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Supplemental disclosures of cash flow information (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Components and classification of cash, restricted cash and equivalents        
Cash and cash equivalents $ 262,900,000 $ 372,900,000    
Restricted cash classified as other assets 24,800,000 24,000,000.0    
Total 287,700,000 396,900,000 $ 327,100,000 $ 289,200,000
Cash flows from operating activities:        
Cash paid for income taxes, net 224,400,000 256,900,000 144,700,000  
Cash paid for interest, net, excluding financing leases 267,000,000.0 242,200,000 187,000,000.0  
Cash paid for interest on finance leases 5,100,000 5,100,000 5,100,000  
Cash paid under operating leases 43,800,000 42,900,000 43,600,000  
Cash flows from financing activities:        
Cash paid under finance leases 5,100,000 $ 4,600,000 $ 4,700,000  
Classification of contingent consideration payments        
Cash and cash equivalents held by non-U.S. subsidiaries 249,200,000      
Percentage of cash and cash equivalents held by our non-U.S. subsidiaries $ 0.95