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Share-Based Compensation - Schedule of Compensation Cost for Restricted Stock Units (Details) - Restricted Stock - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total expense before income taxes | $ 5.7 | $ 6.7 | $ 5.5
Income tax benefit | (1.2) | (1.2) | (1.1)
Total expense after income taxes | 4.5 | 5.5 | 4.4
Cost of sales |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total expense before income taxes | 0.5 | 0.3 | 0.4
Selling, general and administrative expenses(1) |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total expense before income taxes | 5.2 | $ 6.4 | $ 5.1
Selling, general and administrative expenses(1) | Accelerated Stock Retiree Eligibility |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Share-based payment arrangement, increase (decrease) in noncash expense | $ (0.5) |  |

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