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Acquisitions and Dispositions - Dispositions (Details) - USD ($) $ in Millions |  | 12 Months Ended
--- | --- | ---
Jan. 01, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |
Gain on sale of business |  | $ 0.0 | $ 0.0 | $ 4.1 |
Disposal Group, Not Discontinued Operation, Gain (Loss) on Disposal, Statement of Income or Comprehensive Income [Extensible Enumeration] |  |  |  | Interest and other nonoperating income (expense) |
French security services company |  |  |  |  |
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |
Disposal Date | Jan. 01, 2020 |  |  |  |
Percent of shares sold | 100.00% |  |  |  |
Net sales price | $ 11.0 |  |  |  |
Gain on sale of business |  |  |  | $ 4.5 |
Annual revenues |  |  |  |  | $ 3.0

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