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Income Taxes - Principal Components of Deferred Tax Items (Parenthetical) (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Operating Loss Carryforwards [Line Items] |  |
Deferred tax assets | $ 76.5 | $ 69.0
Deferred tax liabilities | 216.1 | 218.5
Other assets |  |
Operating Loss Carryforwards [Line Items] |  |
Gross deferred tax assets | $ 8.0 | $ 9.0

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