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Special Charges, Net - Analysis of Restructuring Liabilities (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restructuring liabilities      
Balance at beginning of year $ 0.3 $ 0.9 $ 0.4
Special charges 0.1 1.0 2.0
Utilization — cash (0.4) (1.6) (1.5)
Balance at the end of year 0.0 0.3 0.9
Asset impairment charges $ 0.3 $ 0.0 $ 0.4