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Restructuring Expenses and Asset Impairments - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2020 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |  |
Impairment, Intangible Asset, Finite-Lived, Statement of Income or Comprehensive Income [Extensible Enumeration] |  |  | Restructuring expenses and asset impairments |
Total restructuring costs |  | $ 10.9 | $ 22.8 | $ 9.3
Asset Impairments |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Total restructuring costs |  | 0.8 | 17.4 | 0.8
Corporate/Other |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Total restructuring costs |  | 0.5 | 0.3 | 2.6
Corporate/Other | Asset Impairments |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Total restructuring costs |  | 0.0 | 0.0 | 0.0
HST | Operating Segments |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Contract with customer, amount reimbursed | $ 28.7 |  |  |
Impairment of definite-lived assets |  | 16.8 | 16.8 |
Revenue recognized |  | 17.9 | 17.9 |
Total restructuring costs |  | 6.6 | 18.0 | 1.7
HST | Operating Segments | Asset Impairments |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Total restructuring costs |  | 0.0 | 16.8 | 0.0
FMT | Operating Segments |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Total restructuring costs |  | 2.9 | 2.7 | 4.5
FMT | Operating Segments | Asset Impairments |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Total restructuring costs |  | $ 0.8 | $ 0.5 | $ 0.8

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