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Summary of Significant Accounting Policies - Reclassification (Details) - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
Reclassification    
Other long-term liabilities $ 51.4 $ 50.2
Deferred Compensation Plan Liabilities Reclassification | Reclassification Adjustment    
Reclassification    
Long-term retirement benefits   (43.2)
Other long-term liabilities   $ 43.2