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Goodwill and Other Intangible Assets - Finite-Lived Intangible Assets (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Finite Lived Intangible Asset Disclosures      
Weighted average remaining expected life of finite lived intangible assets 16 years    
Gross carrying value $ 1,215.1 $ 1,235.1  
Accumulated amortization 512.7 472.6  
Net carrying value 702.4 762.5  
Amortization expense for intangible assets with finite useful lives 68.6 70.7 $ 75.3
Estimated amortization expense for the next five years      
Year 1: Finite lived intangible assets amortization 67.3    
Year 2: Finite lived intangible assets amortization 61.9    
Year 3: Finite lived intangible assets amortization 57.8    
Year 4: Finite lived intangible assets amortization 57.8    
Year 5: Finite lived intangible assets amortization 40.6    
Other finite lived intangible assets      
Finite Lived Intangible Asset Disclosures      
Finite lived intangible assets fully amortized during the period $ 31.2 $ 34.4