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Leases (Details) - USD ($)
$ in Millions
Sep. 30, 2023
Dec. 31, 2022
Finance leases:    
Property and equipment - gross $ 17.9 $ 19.4
Accumulated depreciation and amortization $ (15.6) $ (16.4)
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List] Property, Plant, and Equipment and Finance Lease Right-of-Use Asset, after Accumulated Depreciation and Amortization Property, Plant, and Equipment and Finance Lease Right-of-Use Asset, after Accumulated Depreciation and Amortization
Property and equipment - net $ 2.3 $ 3.0
Finance Lease, Liability, Current, Statement of Financial Position [Extensible List] Other accrued liabilities Other accrued liabilities
Other accrued liabilities $ 1.6 $ 2.0
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List] Other long-term liabilities Other long-term liabilities
Other long-term liabilities $ 1.2 $ 1.9
Total finance lease liabilities 2.8 3.9
Operating leases:    
Operating lease right-of-use assets $ 68.7 $ 61.5
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Other accrued liabilities Other accrued liabilities
Other accrued liabilities $ 21.4 $ 19.4
Operating lease liabilities 50.6 44.7
Total operating lease liabilities $ 72.0 $ 64.1