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Consolidated Balance Sheets (Parenthetical) - USD ($)
shares in Millions, $ in Millions
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 2.5 $ 2.5
Common stock, par value (usd per share) $ 1  
Common stock, shares authorized 90.0  
Common stock, shares issued 70.0 69.5
Treasury Stock, Common, Shares 9.0 8.8