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Income Taxes - Provision for Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Provision for income taxes      
Federal $ 18.5 $ (34.0) $ 40.3
State and local 2.0 (8.0) 1.4
Foreign 99.3 140.0 87.9
Provision for income taxes $ 119.8 $ 98.0 $ 129.6