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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]      
Foreign tax credits $ 15.4 $ 8.7  
Valuation allowance for deferred tax assets 48.1 43.9  
Amount of temporary difference due to repatriation of earnings from sale or liquidation of subsidiary 322.9    
Unrecognized tax benefits that, if recognized, would affect effective tax rate 49.6 52.4 $ 63.5
Accrued deferred tax assets for indirect tax benefits associated with uncertain tax positions 12.6 17.4  
Interest and penalties related to unrecognized tax benefits 2.6 (0.4) $ 0.8
Accrued income tax interest and related charges 13.6 11.0  
Income Tax Valuation Allowance      
Operating Loss Carryforwards [Line Items]      
Increase (decrease) in valuation allowance for deferred tax assets $ 4.2 $ 8.3  
Minimum      
Operating Loss Carryforwards [Line Items]      
State net operating loss carryforwards, expiration period 7 years    
Foreign operating loss carryforwards, expiration period 10 years    
Foreign tax credits, expiration period 6 years    
Maximum      
Operating Loss Carryforwards [Line Items]      
State net operating loss carryforwards, expiration period 12 years    
Foreign operating loss carryforwards, expiration period 18 years    
Foreign tax credits, expiration period 10 years    
State      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards $ 238.8    
State | Operating Loss Carryforward      
Operating Loss Carryforwards [Line Items]      
Valuation allowance for deferred tax assets 16.1    
Foreign      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 75.7    
Foreign operating loss carryforward indefinitely 16.9    
Foreign | Operating Loss Carryforward      
Operating Loss Carryforwards [Line Items]      
Valuation allowance for deferred tax assets 16.5    
Foreign | Foreign Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Valuation allowance for deferred tax assets 15.4    
Foreign | Expire over a 20-year period      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards $ 58.8