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Income Taxes - Income Tax Expense (Benefit) (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current:      
Federal $ 28.7 $ 17.1 $ 11.1
Foreign 8.5 7.9 11.2
State 4.0 3.8 1.9
Total current 41.2 28.8 24.2
Deferred:      
Federal (8.7) (6.3) 0.6
Foreign (17.3) (8.5) (15.5)
State (0.9) (0.8) (0.1)
Total deferred (26.9) (15.6) (15.0)
Total:      
Federal 20.0 10.8 11.7
Foreign (8.8) (0.6) (4.3)
State 3.1 3.0 1.8
Total income tax expense $ 14.3 $ 13.2 $ 9.2