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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
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