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Leases - Supplemental Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Leases [Line Items]      
Operating lease cost $ 17.1 $ 16.3 $ 15.3
Sublease income (0.7) 0.0 0.0
Net operating lease cost 16.4 16.3 15.3
Cash paid for amounts included in the measurement of operating lease liabilities $ 17.9 $ 16.9 $ 12.6
Weighted average remaining lease term 10 years 9 months 18 days 7 years 10 months 24 days  
Weighted average discount rate 5.10% 5.30%  
Restricted cash $ 8.0 $ 7.8  
Letter of Credit      
Leases [Line Items]      
Restricted cash $ 7.8 $ 7.8