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Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Balance at beginning of year $ 39.1 $ 43.3 $ 45.1
Additions for tax positions of prior years 3.6 2.5 4.5
Reductions for tax positions of prior years (17.7) (8.3) (4.2)
Increase (decrease) resulting from foreign currency translation 3.0 1.6 (2.1)
Balance at end of year $ 28.0 $ 39.1 $ 43.3