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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]      
Gain associated with pensions, net of tax $ 3.8 $ 5.0 $ 10.8
Share of equity method investment’s comprehensive losses from continuing operations $ 1.3 $ 0.8 $ 0.0