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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Income Tax Disclosure [Abstract]          
Effective tax rate 16.30% 10.20% 17.10% 16.50%  
Unrecognized tax benefits, including interest and penalties $ 301.5   $ 301.5   $ 290.7
Income tax examination, year under examination     2017 2018