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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, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | $ 22.8 | $ 9.3 | $ 11.8
Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 5.1 | 8.5 | 8.5
Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.3 | 0.0 | 0.2
Asset Impairment |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 17.4 | 0.8 | 3.1
Operating Segments | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2.7 | 4.5 | 5.6
Operating Segments | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 18.0 | 1.7 | 2.7
Operating Segments | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 1.8 | 0.5 | 2.5
Operating Segments | Severance Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 1.9 | 3.7 | 2.9
Operating Segments | Severance Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 1.2 | 1.7 | 2.7
Operating Segments | Severance Costs | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 1.7 | 0.5 | 2.5
Operating Segments | Exit Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.3 | 0.0 | 0.2
Operating Segments | Exit Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.0 | 0.0
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 | 0.5 | 0.8 | 2.5
Operating Segments | Asset Impairment | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 16.8 | 0.0 | 0.0
Operating Segments | Asset Impairment | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.1 | 0.0 | 0.0
Corporate/Other |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.3 | 2.6 | 1.0
Corporate/Other | Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.3 | 2.6 | 0.4
Corporate/Other | Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0.0 | 0.0 | 0.0
Corporate/Other | Asset Impairment |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | $ 0.0 | $ 0.0 | $ 0.6

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