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Income Taxes - Schedule of Loss from Continuing Operations Before Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Domestic $ 385.8 $ 37.8 $ 185.3
Foreign 168.6 154.9 114.0
Income before income taxes $ 554.4 $ 192.7 $ 299.3