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Stock and Stock-Based Compensation Plans (Tables)
3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Summary of stock-based compensation expense by type of award
The following table summarizes our stock-based compensation expense by type of award (in millions):
 Three Months Ended March 31,
 20242023
PRSUs$3.8 $(0.1)
RSUs2.9 2.8 
Service options0.1 0.2 
Market options(0.2)0.7 
Total stock-based compensation expense$6.6 $3.6