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Income Taxes - Schedule of Components of Consolidated Provision for Income Taxes (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current:      
Federal $ 105.2 $ 222.9 $ 73.1
State 10.8 30.6 19.6
Foreign 37.9 72.8 67.1
Total current 153.9 326.3 159.8
Deferred:      
Federal 27.3 30.4 55.9
State 7.0 9.0 13.0
Foreign (2.9) (7.4) 22.3
Total deferred 31.4 32.0 91.2
Income tax expense $ 185.3 $ 358.3 $ 251.0