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Contingencies, Guarantees, Indemnifications and Leases - Guarantees and Indemnifications (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Guaranty Funds    
Undiscounted liability balance for guaranty fund assessments $ 20.7 $ 20.6
Premium tax offsets 9.9 $ 9.7
Guarantees to third parties primarily related to former subsidiaries and joint ventures    
Guarantees and Indemnifications    
Maximum exposure under guarantees $ 141.0