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Income Taxes - Reconciliation of Unrecognized Tax Liabilities (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Reconciliation of total amounts of unrecognized income tax benefits      
Gross Unrecognized Tax Liabilities – opening balance $ 75.1 $ 78.2 $ 66.5
Gross increases – tax positions in prior period 2.2 2.4 4.8
Gross decreases – tax positions in prior period (8.0) (6.1) (0.5)
Gross increases – tax positions in current period 2.0 3.5 12.3
Settlements (1.6) 0.0 (0.1)
Payments 1.6 0.0 0.0
Lapse of statute of limitations (3.3) (2.9) (4.8)
Gross Unrecognized Tax Liabilities – ending balance $ 68.1 $ 75.1 $ 78.2