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Income Taxes - Components of Income Tax (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current expense      
Federal and other $ 0.2 $ 1.8 $ 2.0
Foreign 28.6 25.0 28.5
Total current income tax expense 28.8 26.8 30.5
Deferred expense (benefit)      
Federal and other (16.7) 6.8 (16.5)
Foreign (3.4) (5.5) (4.5)
Total deferred income tax (benefit) expense (20.1) 1.3 (21.0)
Total income tax expense $ 8.7 $ 28.1 $ 9.5