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Restructuring Expenses and Asset Impairments - Schedule of Restructuring Accruals Expenses (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Restructuring Reserve [Roll Forward] |  |
Beginning balance | $ 1.4 | $ 2.8
Restructuring expenses | 10.1 | 5.4
Payments, utilization and other | (9.4) | (6.8)
Ending balance | 2.1 | 1.4
Property, plant and equipment |  |
Restructuring Cost and Reserve [Line Items] |  |
Asset impairment charges | $ 0.8 | $ 17.4

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