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Leases - Components of Lease Costs (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Leases [Abstract]      
Operating lease cost $ 38.7 $ 46.7 $ 50.2
Finance lease cost:      
Amortization of right-of-use assets 27.5 28.0 25.0
Interest on lease liabilities 29.0 30.7 28.8
Total finance lease cost 56.5 58.7 53.8
Short-term and variable lease cost 5.2 3.1 3.7
Sublease income (2.9) (3.1) (3.2)
Total lease cost $ 97.5 $ 105.4 $ 104.5