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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