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Earnings Per Share - Basic and Diluted Loss Per Share (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Earnings Per Share [Abstract]      
Basic weighted average common shares outstanding 82.3 83.4 86.0
Add: Dilutive impact of outstanding equity awards 0.4 0.3 0.5
Diluted weighted average common shares outstanding 82.7 83.7 86.5