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Stock-Based Compensation - Employee Stock Option and Incentive Plan (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-Based Compensation      
Weighted average period compensation cost is expected to be recognized (in years) 2 years 7 months 6 days    
Stock options      
Stock-Based Compensation      
Common stock authorized grants (in shares) 2,227,595    
Vesting period (in years) 4 years    
Expiration period (in years) 10 years    
Intrinsic value of options exercised $ 12.8 $ 9.4 $ 0.8
Weighted average grant-date fair value (in dollars per share) $ 17.60 $ 22.16 $ 8.08
Fair value of options vested $ 15.6 $ 5.9 $ 2.4
Intrinsic value of options outstanding 122.6    
Intrinsic value of options vested and expected to vest 120.1    
Intrinsic value of options exercisable 54.1    
Compensation cost not yet recognized $ 42.9    
Stock options | Principal Owner      
Stock-Based Compensation      
Expiration period (in years) 5 years    
Exercise price as a percentage of fair market value 110.00%