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Revenue Recognition - Reconciliation of Short Term Sales Program Incentives (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Sales Incentives, Current [Roll Forward] |  |  |
Beginning Balance | $ 20.8 | $ 23.3 | $ 26.2
Additions | 40.0 | 35.7 | 32.5
Credits issued | (42.6) | (32.9) | (32.1)
Foreign currency translation and other | (1.7) | (5.3) | (3.3)
Ending Balance | $ 16.5 | $ 20.8 | $ 23.3

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