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Leases - Expense (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating lease expense:      
Operating lease expense $ 148.1 $ 128.9 $ 99.8
Short-term lease expense 13.5 15.3 13.1
Variable lease expense 36.3 31.5 26.9
Finance lease expense:      
Amortization of right-of-use assets 14.4 14.9 12.6
Interest on lease obligations 3.9 4.4 4.5
Total lease expense $ 216.2 $ 195.0 $ 156.9