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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards [Line Items]      
Foreign tax credits $ 16.0 $ 15.4  
Valuation allowance for deferred tax assets 47.6 48.1  
Amount of temporary difference due to repatriation of earnings from sale or liquidation of subsidiary 347.7    
Unrecognized tax benefits that, if recognized, would affect effective tax rate 37.8 49.6 $ 52.4
Accrued deferred tax assets for indirect tax benefits associated with uncertain tax positions 10.0 12.6  
Interest and penalties related to unrecognized tax benefits 0.8 2.6 $ (0.4)
Accrued income tax interest and related charges 14.4 13.6  
Income Tax Valuation Allowance      
Operating Loss Carryforwards [Line Items]      
Increase in valuation allowance $ 0.5 $ 4.2  
Minimum      
Operating Loss Carryforwards [Line Items]      
State net operating loss carryforwards, expiration period 6 years    
Foreign operating loss carryforwards, expiration period 9 years    
Foreign tax credits, expiration period 5 years    
Maximum      
Operating Loss Carryforwards [Line Items]      
State net operating loss carryforwards, expiration period 11 years    
Foreign operating loss carryforwards, expiration period 16 years    
Foreign tax credits, expiration period 8 years    
State      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards $ 228.2    
State | Operating Loss Carryforward      
Operating Loss Carryforwards [Line Items]      
Valuation allowance for deferred tax assets 14.6    
Foreign      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 74.8    
Foreign operating loss carryforward indefinitely 17.3    
Foreign | Operating Loss Carryforward      
Operating Loss Carryforwards [Line Items]      
Valuation allowance for deferred tax assets 17.0    
Foreign | Foreign Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Valuation allowance for deferred tax assets 16.0    
Foreign | Expire over a 20-year period      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards $ 57.5