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Income Taxes - Income (Loss) from Continuing Operations before Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
U.S. $ 176.6 $ 132.1 $ 94.8
Non-U.S. 26.4 18.8 22.8
Income before income taxes $ 203.0 $ 150.9 $ 117.6