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Restructuring Costs - Summary of Changes in Restructuring Reserve (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Restructuring Reserve [Roll Forward] |  |  |
Restructuring reserve, beginning balance | $ 22.2 | $ 25.8 | $ 28.3
Paid/ Utilized | (26.8) | (24.3) | (48.7)
Expense | 73.9 | 20.7 | 46.2
Restructuring reserve, ending balance | 69.3 | 22.2 | 25.8
Severance and benefits |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Restructuring reserve, beginning balance | 21.6 | 24.6 | 20.1
Paid/ Utilized | (23.2) | (21.6) | (28.7)
Expense | 70.5 | 18.6 | 33.2
Restructuring reserve, ending balance | 68.9 | 21.6 | 24.6
Plant closing and other |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Restructuring reserve, beginning balance | 0.6 | 1.2 | 8.2
Paid/ Utilized | (3.6) | (2.7) | (20.0)
Expense | 3.4 | 2.1 | 13.0
Restructuring reserve, ending balance | $ 0.4 | $ 0.6 | $ 1.2

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- Definition Carrying amount (including both current and noncurrent portions of the accrual) as of the balance sheet date pertaining to a specified type of cost associated with exit from or disposal of business activities or restructuring pursuant to a duly authorized plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b)(2) -URI http://asc.fasb.org/extlink&oid=6394359&loc=d3e17939-110869 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SAB TOPIC 5.P.4(b)) -URI http://asc.fasb.org/extlink&oid=115931487&loc=d3e140904-122747 + Details
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