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Debt and Credit Agreements Schedule of Maturities of Long-term Debt (Tables)
 12 Months Ended
Dec. 31, 2023
Long-Term Debt, Fiscal Year Maturity [Abstract]  
Schedule of Maturities of Long-term Debt [Table Text Block]
Annual maturities are scheduled as follows based on the book value as of December 31, 2023.
2024$250.1 
20250.2 
20260.2 
20270.1 
2028497.0 
Thereafter2,420.0 
Total long-term debt$3,167.6