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Non-Qualified Retirement, Savings and Investment Plans (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) plan shares | Dec. 31, 2022 USD ($) plan shares | Dec. 31, 2021 USD ($)
Retirement Benefits [Abstract] |  |  |
Number of non-qualified retirement savings and investment plans | plan | 2 |  |
Deferred compensation liability, current and long-term | $ 47.5 | $ 37.4 |
Number of deferred compensation plans | plan | 2 | 2 |
Increase (decrease) in compensation expense | $ 7.0 | $ (5.3) | $ 6.1
Deferred compensation plan assets | 41.6 | 32.4 |
Restricted investments, current | 1.8 |  |
Investment gains (losses) | $ 6.6 | $ (6.0) | $ 5.6
Deferred compensation arrangement with individual, shares issued (in shares) | shares | 0 | 0 |

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