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Restructuring Expenses and Asset Impairments - Schedule of Pre-Tax Restructuring Expenses by Segment (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | $ 9.3 | $ 11.8 | $ 21.0
Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 8.5 | 8.5 | 9.8
Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.2 | 1.0
Asset Impairment |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.8 | 3.1 | 10.2
Operating Segments | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 4.5 | 5.6 | 2.9
Operating Segments | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 1.7 | 2.7 | 14.2
Operating Segments | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.5 | 2.5 | 1.3
Operating Segments | Severance Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 3.7 | 2.9 | 2.9
Operating Segments | Severance Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 1.7 | 2.7 | 3.0
Operating Segments | Severance Costs | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.5 | 2.5 | 1.3
Operating Segments | Exit Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.2 | 0.0
Operating Segments | Exit Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.0 | 1.0
Operating Segments | Exit Costs | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.0 | 0.0
Operating Segments | Asset Impairment | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.8 | 2.5 | 0.0
Operating Segments | Asset Impairment | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.0 | 10.2
Operating Segments | Asset Impairment | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.0 | 0.0
Corporate office and other |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2.6 | 1.0 | 2.6
Corporate office and other | Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2.6 | 0.4 | 2.6
Corporate office and other | Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.0 | 0.0
Corporate office and other | Asset Impairment |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | $ 0.0 | $ 0.6 | $ 0.0

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