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CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - USD ($) $ in Millions | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Statement of Stockholders' Equity [Abstract] |  |
Employee pension and postretirement benefits, tax | $ 0.1 | $ (0.1)
Cash dividends declared per share on common stock (in dollars per share) | $ 0.41 | $ 0.37

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