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Leases (Details 3) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Leases      
Cash paid for amounts included in the measurement of lease liabilities [1] $ 49.9 $ 49.7 $ 51.5
Supplemental non-cash information on lease liabilities arising from obtaining ROU assets:      
ROU assets obtained in exchange for new operating lease liabilities $ 49.9 $ 50.0 $ 69.1
[1] Included in Net cash provided by operating activities on the Company's Consolidated Statements of Cash Flows.