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Restructuring Costs - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring charges | $ 73.9 | $ 20.7 | $ 46.2 |  |
Multi-Year Restructuring Program |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring charges | 71.1 |  |  |  |
Total expected cost | $ 95.0 |  |  |  |
Forecast | Multi-Year Restructuring Program |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Expected cost remaining |  |  |  | $ 7.0 | $ 13.0

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