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Goodwill and Other Intangible Assets - Amortization Expense (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract]      
Amortization expense $ 28.8 $ 31.2 $ 32.9