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Leases - Narrative (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Lessee, Lease, Description [Line Items]      
Operating lease, expense $ 19.9 $ 21.3 $ 22.5
Operating lease, payments 21.6 22.9  
Right-of-use asset obtained in exchange for operating lease liability $ 13.9 22.1  
Operating lease, weighted average remaining lease term 5 years 10 months 28 days    
Operating lease, weighted average discount rate, percent 4.79%    
Operating lease, lease income $ 4.5 $ 4.5 $ 4.8
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration] Other income (expense), net Other income (expense), net Other income (expense), net
Maximum      
Lessee, Lease, Description [Line Items]      
Lessee, operating lease, remaining lease term 12 years    
Lessee, operating lease, extension period 9 years    
Lessor, operating lease, term of contract 4 years    
Minimum      
Lessee, Lease, Description [Line Items]      
Lessor, operating lease, term of contract 3 years