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Income Taxes (Details Textual) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income taxes [Line Items]      
Federal statutory income tax rate 21.00% 21.00% 21.00%
Tax net operating loss carryforwards    
Gross undistributed earnings reinvested indefinitely in foreign subsidiaries $ 2,356.1    
Unrecognized tax benefits that would impact provision for income taxes and effective income tax rate 38.2 30.8  
Unrecognized tax benefits, income tax penalties and interest accrued 10.0 8.3  
Foreign [Member]      
Income taxes [Line Items]      
Tax net operating loss carryforwards 247.4 260.6  
Tax credit carryforwards $ 53.6 59.8  
Foreign [Member] | Earliest Tax Year [Member]      
Income taxes [Line Items]      
Tax credit carryforwards, Expiration year 2027    
Foreign [Member] | Latest Tax Year [Member]      
Income taxes [Line Items]      
Tax credit carryforwards, Expiration year 2032    
U.S. State [Member]      
Income taxes [Line Items]      
Tax net operating loss carryforwards $ 68.4 $ 97.7  
U.S. State [Member] | Earliest Tax Year [Member]      
Income taxes [Line Items]      
Tax net operating loss carryforwards, Expiration year 2024    
U.S. State [Member] | Latest Tax Year [Member]      
Income taxes [Line Items]      
Tax net operating loss carryforwards, Expiration year 2043    
U.S. Federal [Member] | Research and Expenditure Tax Credit Carryforward [Member]      
Income taxes [Line Items]      
Tax credit carryforwards $ 3.8    
U.S. Federal [Member] | Research and Expenditure Tax Credit Carryforward [Member] | Earliest Tax Year [Member]      
Income taxes [Line Items]      
Tax credit carryforwards, Expiration year 2034    
U.S. Federal [Member] | Research and Expenditure Tax Credit Carryforward [Member] | Latest Tax Year [Member]      
Income taxes [Line Items]      
Tax credit carryforwards, Expiration year 2042