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Fair Value Measurements - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Fair Value Disclosures [Abstract]      
Investments used to satisfy nonqualified benefit plans obligations $ 66.2 $ 78.0  
Unrealized gains (losses) on investments, net of insurance proceeds 7.5 $ (11.3) $ 5.8
Investment withdrawal, reduction in cost basis $ 20.0