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Stock Plans and Share-Based Compensation - Summary of Fair Value of Awards Vested and Weighted Average Grant Date Fair Value per Share (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vested in period, fair value	$ 17.3	$ 17.2	$ 6.5
Stock units, weighted average grant-date fair value (in dollars per share)	$ 22.78	$ 22.81	$ 29.60
Number of stock units granted (in shares)	800,000
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vested in period, fair value	$ 1.3	$ 2.1	$ 0.8
Stock units, weighted average grant-date fair value (in dollars per share)	$ 19.60	$ 0	$ 28.74
Number of stock units granted (in shares)	800,000	0
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vested in period, fair value	$ 7.8	$ 6.9	$ 8.2
Stock units, weighted average grant-date fair value (in dollars per share)	$ 36.58	$ 34.68	$ 30.35
Number of stock units granted (in shares)	600,000

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- Definition

The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash.

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