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Income Taxes - Components of Income Tax Expense (Benefit), Continuing Operations (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current income taxes:      
U.S. federal $ (13.5) $ (12.3) $ (0.4)
U.S. state (2.3) 0.3 (0.3)
Foreign 18.8 13.3 1.5
Current income taxes 3.0 1.3 0.8
Deferred income taxes:      
U.S. federal (5.7) (13.6) 4.7
U.S. state 0.9 (4.0) (1.1)
Foreign 28.6 (11.3) (32.6)
Deferred income taxes 23.8 (28.9) (29.0)
Provision for income taxes $ 26.8 $ (27.6) $ (28.2)