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Income Taxes - Reconciliation of the Tax Provision (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Tax provision based on U.S. federal statutory tax rate $ 14.0 $ 30.5 $ 21.0
Foreign rates varying from federal statutory tax rate (1.5) (5.4) (10.3)
State income taxes, net of U.S. federal income tax benefit 7.5 0.7 1.8
U.S. taxes on foreign earnings and other tax reform impacts 9.4 29.7 11.1
Uncertain tax positions 8.9 (1.5) 5.3
Statutory adjustments, including foreign currency and tax rate changes (9.2) (3.8) 0.6
Non-taxable interest income & non-deductible interest expense (3.3) 2.1 (2.1)
Valuation allowances (10.9) (13.3) (6.6)
Non-deductible officer compensation 1.8 1.0 1.5
Withholding tax 8.0 7.8 6.2
Foreign tax credit (13.2) (25.0) (5.6)
Other 1.5 6.6 2.9
Total provision for income taxes 13.0 29.2 $ 25.8
Discrete income tax benefit, net (5.4) (15.5)  
Effective Income Tax Rate Reconciliation, Discrete Item Related to Uncertain Tax Position, Amount 6.9 $ (2.7)  
Effective Income Tax Rate Reconciliation, Discrete Item Related to Return-to-Provision Adjustments, Amount $ (4.8)