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Stock-based Compensation and Other Employee Benefit Plans - Expense (Details) - USD ($) $ 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] |  |  |
Stock-based compensation | $ 44.0 | $ 49.3 | $ 52.7
Continuing Operations |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Deferred Compensation Arrangement with Individual, Allocated Share-based Compensation Expense | 44.0 | 49.3 | 39.6
Discontinued Operations |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Deferred Compensation Arrangement with Individual, Allocated Share-based Compensation Expense | $ 0.0 | $ 0.0 | $ 13.1

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- Definition Amount of expense recognized from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments), awarded to key employees or individuals. Excludes amount related to plans that cover generally all employees (for example, but not limited to, qualified pension plans). + References No definition available. + Details
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- Definition Amount of noncash expense for share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 28 -Subparagraph (a) -SubTopic 10 -Topic 230 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482740/230-10-45-28 + Details
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- Definition Line items represent financial concepts included in a table. 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