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Restructuring - Accrual Activity (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Restructuring Reserve [Roll Forward]    
Beginning balance $ 2.4 $ 2.4
Costs incurred 6.5 4.1
Cash payments and other (4.4) (4.9)
Ending balance $ 4.5 $ 1.6