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Employee Benefit Plans - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Retirement Benefits [Abstract]      
Defined contribution expense $ 18.9 $ 18.7 $ 16.7
Discount rate 1.30% 2.20%  
Rate of compensation increase 2.25% 2.25%  
Discount rate 2.20% 0.20%  
Rate of compensation increase 2.25% 2.00%  
Expected return on plan assets 5.80% 4.50%  
Accumulated benefit obligation $ 157.9 $ 105.1  
Expected contributions $ 10.0