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Valuation and Qualifying Accounts (Details) - USD ($)
$ in Millions
 12 Months Ended
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