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Income Taxes - Components of Income Tax (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Current expense (benefit)      
Federal and other $ 1.8 $ 2.0 $ (0.1)
Foreign 25.0 28.5 24.3
Total current income tax expense 26.8 30.5 24.2
Deferred expense (benefit)      
Federal and other 6.8 (16.5) (2.0)
Foreign (5.5) (4.5) (5.6)
Total deferred income tax (benefit) expense 1.3 (21.0) (7.6)
Total income tax expense $ 28.1 $ 9.5 $ 16.6