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Income Taxes - Narrative (Details)
$ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
jurisdiction
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Operating Loss Carryforwards [Line Items]        
Number of significant foreign jurisdictions | jurisdiction 10      
Unrecognized tax benefits $ 46.1 $ 41.9 $ 76.2 $ 68.2
Unrecognized tax benefits that would impact effective tax rate 29.5 23.6    
Interest and penalties recognized 2.6 (4.5) $ (1.5)  
Interest and penalties accrued 12.0 9.4    
Tax credit carryforward 3.5      
Tax from earnings in foreign country   $ 1.6    
Minimum        
Operating Loss Carryforwards [Line Items]        
Possible decrease in unrecognized tax benefits 1.2      
Maximum        
Operating Loss Carryforwards [Line Items]        
Possible decrease in unrecognized tax benefits 20.7      
U.S. State        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 22.3      
Foreign Tax Authority        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards $ 292.9