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Leases (Tables)
12 Months Ended
Dec. 31, 2023
Leases [Abstract]  
Lessee, Operating Lease, Liability, Maturity [Table Text Block]
Minimum future lease payments due in each of the next five years and thereafter, as of December 31, 2023, are presented in the table below.
(in millions)
2024$192.3 
2025171.8 
2026153.7 
2027126.2 
2028106.5 
Thereafter302.7 
Total future minimum lease payments$1,053.2 
Less imputed interest136.8 
Total$916.4 
Lease, Cost [Table Text Block]
Other information related to operating leases was as follows.
December 31, 2023
Weighted average remaining lease term6.7 years
Weighted average discount rate4.0 %