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Share-Based Compensation - Amounts Recognized for Share-Based Compensation (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total cost of share-based compensation included in income, before income tax $ 12.4 $ 13.8
Income tax benefit (3.0) (3.3)
Total cost of share-based compensation, after tax 9.4 10.5
Cost of products    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total cost of share-based compensation included in income, before income tax 0.4 0.5
Selling, general and administrative expenses    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total cost of share-based compensation included in income, before income tax 10.8 12.8
Research and development expenses    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total cost of share-based compensation included in income, before income tax 0.5 0.4
Other venue expenses    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total cost of share-based compensation included in income, before income tax $ 0.7 $ 0.1