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Income Taxes - Income (Loss) Before Income Tax Provision (Benefit) (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
United States $ 3.5 $ 97.8 $ 295.3
Foreign 31.3 44.1 55.3
Income before income taxes $ 34.8 $ 141.9 $ 350.6