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Share-Based Compensation - Fair Value Options Granted and Assumptions (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation      
Stock options granted, fair value $ 0.0 $ 1.8 $ 2.0
Intrinsic value of options exercised 0.2 1.2 13.4
Cash received for options exercised 0.0 $ 2.6 $ 3.6
Intrinsic value of exercisable options outstanding $ 1.9    
Stock options granted, weighted average fair value (in dollars per share)   $ 47.84 $ 54.19
Stock Options      
Share-based Compensation      
Shares available for future grant (in shares) 1.1    
Assumptions used to determine fair value of options granted      
Dividend yield   0.00% 0.00%
Expected volatility   36.80% 37.10%
Risk-free interest rate   1.70% 1.00%
Expected life of options (in years)   5 years 8 months 12 days 5 years 8 months 12 days
Forfeiture rate   0.00% 0.00%
Stock Options | Minimum      
Share-based Compensation      
Stock vesting period 3 years    
Stock options, expiration period 7 years    
Stock Options | Maximum      
Share-based Compensation      
Stock vesting period 5 years