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Schedule I - Condensed Financial Information of the Registrant - Condensed Statements of Income and Comprehensive Income (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
CONDENSED STATEMENTS OF INCOME/(LOSS) AND COMPREHENSIVE INCOME/(LOSS)      
Revenues $ 4,357.0 $ 4,475.5 $ 5,070.8
Expenses [1] 3,539.5 3,590.6 3,947.7
Operating income 817.5 884.9 1,123.1
Gain on sale of noncontrolling interest in private company     47.9
Interest income 15.6 13.9 1.4
Interest expense (105.3) (101.0) (105.5)
Other income/(expense), net 0.0 (37.5) (21.7)
Income tax benefit (119.8) (98.0) (129.6)
Net income 626.0 910.6 805.8
Other comprehensive income, net of tax 0.6 (115.8) 107.4
Comprehensive income 626.6 794.8 913.2
Parent Company | Reportable Legal Entities      
CONDENSED STATEMENTS OF INCOME/(LOSS) AND COMPREHENSIVE INCOME/(LOSS)      
Gain on sale of noncontrolling interest in private company     47.9
Interest income 1.2 8.3  
Interest expense (121.5) (105.7) (115.9)
Other income/(expense), net   3.1 (14.7)
Loss before equity earnings of affiliates and income taxes (120.3) (94.3) (82.7)
Equity in earnings of affiliates, net of tax 720.6 981.1 869.1
Income tax benefit 25.7 23.8 19.4
Net income 626.0 910.6 805.8
Other comprehensive income, net of tax 0.3   2.5
Other comprehensive income/(loss) of affiliates, net of tax 0.3 (115.8) 104.9
Comprehensive income $ 626.6 $ 794.8 $ 913.2
[1] As further described in Note 6, total expenses include amounts incurred with related parties of $45.4 million, $48.8 million, and $54.7 million for the years ended December 31, 2023, 2022, and 2021, respectively.