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Share Repurchase Program (Details)
shares in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
shares
Dec. 31, 2022
USD ($)
agreement
shares
May 31, 2023
USD ($)
Nov. 30, 2022
USD ($)
Jun. 30, 2022
USD ($)
Feb. 28, 2022
USD ($)
Accelerated Share Repurchases [Line Items]            
Authorized amount for repurchase $ 550,000,000         $ 100,000,000
Stock repurchase program, increased limit     $ 100,000,000 $ 200,000,000 $ 150,000,000  
Number of accelerated share repurchase agreements | agreement   3        
Accelerated Share Repurchase Agreement            
Accelerated Share Repurchases [Line Items]            
Common shares repurchased (in shares) | shares 0.1 7.7        
Common shares repurchased, amount   $ 150,000,000        
Share Repurchased Under Rule 10b5-1 Plan            
Accelerated Share Repurchases [Line Items]            
Common shares repurchased (in shares) | shares 6.9 7.9        
Common shares repurchased, amount $ 110,700,000 $ 137,700,000        
Open Market Purchases            
Accelerated Share Repurchases [Line Items]            
Common shares repurchased (in shares) | shares 2.6 3.0        
Common shares repurchased, amount $ 36,600,000 $ 51,600,000        
Common Class A            
Accelerated Share Repurchases [Line Items]            
Common shares repurchased (in shares) | shares 9.6 18.6        
Common shares repurchased, amount $ 147,300,000 $ 339,300,000        
Stock repurchase program, remaining authorized amount for future purchase $ 63,400,000