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Stock-based Compensation and Other Employee Benefit Plans - Narrative (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Payment Arrangement, Expense, Tax Benefit | $ 3.2 | $ 4.3 | $ 2.5
Share-based awards expense, service period | 2 years |  |
Deferred Compensation Liability, Current and Noncurrent | $ 16.6 | 13.6 |
Defined Contribution Plan, Employer Discretionary Contribution Amount | $ 26.1 | $ 22.5 | $ 19.9
TSR [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Granted (in dollars per share) | $ 8.71 | $ 13.90 | $ 6.41
Employee Stock Purchase Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant | 0.6 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Purchase Date | 15.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Period | 6 months |  |
Restricted Stock Units and Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant | 1.5 |  |
Granted (in dollars per share) | $ 76.69 | $ 110.62 | $ 93.36
Shares surrendered by the employees to the Company for payment of minimum tax withholding obligations | 0.2 |  |
Unrecognized compensation expense | $ 56.1 |  |
Total intrinsic value of options exercised | $ 50.2 | $ 49.3 | $ 47.9
Restricted Stock Units (RSUs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Performance Period | 3 years |  |
Restricted Stock Units (RSUs) | Minimum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | 1 year |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Payout Percentage | 0.00% |  |
Restricted Stock Units (RSUs) | Maximum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | 5 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Payout Percentage | 200.00% |  |

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