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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 [Roll Forward]      
Beginning balance $ 8.7 $ 11.5 $ 20.6
Additions for tax positions of current year 0.0 0.0 0.0
Additions for tax positions of prior years 0.0 0.0 0.2
Reductions for tax positions of prior years 0.0 0.0 (6.4)
Reductions for settlements 0.0 (2.1) (0.6)
Lapses in statute of limitations 0.0 (0.7) (2.4)
Ending balance (1) $ 8.7 $ 8.7 $ 11.5