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Stock-based Compensation and Other Employee Benefit Plans - Expense (Details) - USD ($)
$ in Millions
12 Months Ended
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