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Common Shareholders’ Equity and Noncontrolling Interests - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Sep. 26, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Common Shares Repurchased and Retired        
Additional authorized repurchase of common shares (in shares)   301,014    
Common shares repurchased and retired (in shares) 327,795 24,165 461,256 98,511
Value of common shares repurchased and retired $ 460.8 $ 32.7 $ 615.8 $ 107.5
Value of each common share repurchased and retired (in usd per share) $ 1,400 $ 1,354.88 $ 1,335.11 $ 1,091.29
Shares repurchased to satisfy employee income tax withholding   4,629 4,011 7,218
Common Shares Issued        
Stock issued (in shares)   12,461 15,640 15,066
Dividends on Common Shares        
Cash dividends declared and paid   $ 2.6 $ 3.0 $ 3.1
Dividends declared and paid (in usd per share)   $ 1.00 $ 1.00 $ 1.00
General Board Authorization        
Common Shares Repurchased and Retired        
Common shares repurchased and retired (in shares)   19,536 129,450 91,293
Value of common shares repurchased and retired   $ 26.2 $ 150.9 $ 100.0
Value of each common share repurchased and retired (in usd per share)   $ 1,340.79 $ 1,165.84 $ 1,095.37
Key Personnel        
Common Shares Issued        
Stock issued (in shares)   10,895 13,225 13,475
Directors        
Common Shares Issued        
Stock issued (in shares)   1,566 2,415 1,591