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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | $ 10.9 | $ 22.8 | $ 9.3
Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 9.1 | 5.1 | 8.5
Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 1.0 | 0.3 | 0.0
Asset Impairments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.8 | 17.4 | 0.8
Operating Segments | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 2.9 | 2.7 | 4.5
Operating Segments | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 6.6 | 18.0 | 1.7
Operating Segments | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.9 | 1.8 | 0.5
Operating Segments | Severance Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 1.5 | 1.9 | 3.7
Operating Segments | Severance Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 6.4 | 1.2 | 1.7
Operating Segments | Severance Costs | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.7 | 1.7 | 0.5
Operating Segments | Exit Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.6 | 0.3 | 0.0
Operating Segments | Exit Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.2 | 0.0 | 0.0
Operating Segments | Exit Costs | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.2 | 0.0 | 0.0
Operating Segments | Asset Impairments | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.8 | 0.5 | 0.8
Operating Segments | Asset Impairments | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.0 | 16.8 | 0.0
Operating Segments | Asset Impairments | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.0 | 0.1 | 0.0
Corporate/Other |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.5 | 0.3 | 2.6
Corporate/Other | Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.5 | 0.3 | 2.6
Corporate/Other | Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 0.0 | 0.0 | 0.0
Corporate/Other | Asset Impairments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | $ 0.0 | $ 0.0 | $ 0.0

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