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Stock Plans - Additional Information (Details) - USD ($)
shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period for grants (in years) 3 years    
Historical volatility 33.20%    
Dividend yield 0.00%    
Risk-free interest rate 3.80%    
Historical volatility 2 years 9 months 18 days    
Unrecognized compensation cost expected to be recognized over the period (years) 4 years    
Total fair value of shares vested $ 62.3 $ 87.8 $ 78.0
Total number of available shares to grant 3.0    
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 75.00%    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 125.00%    
Restricted Stock and Stock Units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Total unrecognized compensation cost, net of estimated forfeitures $ 93.7 $ 85.4 $ 75.3
Restricted Stock and Stock Units | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period for grants (in years) 3 years    
Restricted Stock and Stock Units | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period for grants (in years) 4 years    
ROIC Award | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 0.00%    
ROIC Award | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 150.00%