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Accumulated Other Comprehensive Loss - Additional Information (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Equity [Abstract]      
Cumulative income tax benefit on foreign exchange adjustments $ (0.7)    
Cumulative income tax benefits related to adjustments for pension benefits (29.3) $ (14.1) $ (24.8)
Cumulative income tax expense (benefit) related to adjustments for unrealized gain (loss) on derivatives $ 0.0 $ (0.4) $ (3.6)