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Income Taxes (Details 2) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income tax payments      
Income tax payments, net of income tax refunds $ 35.8 $ 25.6 $ 24.8
Federal      
Income tax payments      
Income tax payments, net of income tax refunds 7.5 0.0 0.0
State and foreign      
Income tax payments      
Income tax payments, net of income tax refunds $ 28.3 $ 25.6 $ 24.8