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Valuation and Qualifying Accounts (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Beginning balance-credit losses | $ 4.0 |  |
Ending balance-credit losses | 3.6 | $ 4.0 |
SEC Schedule, 12-09, Allowance, Credit Loss [Member] |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Beginning balance-credit losses | 37.0 | 31.8 | $ 41.7
Additions-charged to expense | 13.3 | 16.3 | 9.7
Amounts written off | (9.8) | (12.9) | (21.6)
Other (primarily changes in foreign currency exchange rates) | (1.2) | 1.8 | 2.0
Ending balance-credit losses | $ 39.3 | $ 37.0 | $ 31.8

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