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Shareholders' Equity - Share Repurchase and Dividends (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Aug. 31, 2022
May 31, 2021
Shareholders' Equity        
Excise tax on stock repurchases     1.00%  
May 2021 Repurchase Program        
Shareholders' Equity        
Amount approved for repurchase of common stock       $ 500.0
Common stock repurchased during the period (in shares) 315,318 1,603,055    
Aggregate cost of common stock repurchased during the period $ 22.2 $ 105.6    
Remaining authorization amount for repurchase of common stock $ 94.4