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Earnings Per Share - Schedule of Shares Excluded from Calculation of Basic and Diluted Earnings (Loss) Per Share (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock options and restricted stock units      
Antidilutive Securities Excluded from Computation of Earnings Per Share      
Antidilutive securities excluded from computation of earnings per share (in shares) 0.2 0.2 2.9
Junior convertible securities      
Antidilutive Securities Excluded from Computation of Earnings Per Share      
Antidilutive securities excluded from computation of earnings per share (in shares) 0.0 0.0 2.2
Shares issuable to settle Redeemable non-controlling interests      
Antidilutive Securities Excluded from Computation of Earnings Per Share      
Antidilutive securities excluded from computation of earnings per share (in shares) 0.1 0.0 0.0