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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' (DEFICIT) EQUITY (Parenthetical) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Statement of Stockholders' Equity [Abstract] |  |  |
Adjustment to pension liability, tax | $ (0.1) | $ 0.8 | $ 0.9
Dividends declared on common stock (in dollars per share) | $ 0.44 | $ 0.40 | $ 0.32

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