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Stock Plans and Share-Based Compensation - Share-Based Compensation Related to Employees and Directors (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation expense, before tax | $ 46.7 | $ 47.0 | $ 38.7
Income tax benefit | (11.2) | (11.3) | (8.9)
Total share-based compensation expense, after tax | 35.5 | 35.7 | 29.8
Cost of products |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation expense, before tax | 1.9 | 1.6 | 1.2
Selling, general and administrative expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation expense, before tax | 39.8 | 44.0 | 36.5
Research and development expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation expense, before tax | 1.6 | 1.1 | 1.0
Other venue expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total share-based compensation expense, before tax | $ 3.4 | $ 0.3 | $ 0.0

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