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Income Taxes - Components of Pre-Tax Income (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Components of pre-tax income      
Domestic $ (40.0) $ 46.8 $ (59.9)
Foreign 785.8 961.8 995.3
Income before income taxes $ 745.8 $ 1,008.6 $ 935.4