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Goodwill and Other Intangible Assets Estimated future amortization of other intangible assets (Tables)
 12 Months Ended
Dec. 31, 2023
Summary of Other Intangible Assets [Abstract]  
Schedule of Finite-Lived Intangible Assets, Future Amortization Expense [Table Text Block]
The estimated annual amortization expense for other intangible assets for the next five years as of December 31, 2023 is listed below.
20242025202620272028
Estimated amortization expense$83.1 $80.4 $78.4 $65.1 $49.8