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Income Taxes - Pre-tax Income Attributable to Operating Segments (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income before income taxes:      
United States $ 382.5 $ 602.5 $ 319.5
Rest of the world 194.7 221.5 132.9
Income from continuing operations before income taxes $ 577.2 $ 824.0 $ 452.4