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Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Unrecognized tax benefit — opening balance $ 7.1 $ 13.6 $ 17.2
Gross increases — tax positions in prior period 0.0 0.7 0.3
Gross decreases — tax positions in prior period (0.7) (6.4) (2.2)
Gross increases — tax positions in current period 0.1 0.2 0.2
Settlements 0.0 0.0 (0.3)
Statute expirations (1.9) (1.1) (1.7)
Change due to foreign currency exchange rates (0.1)    
Change due to foreign currency exchange rates   0.1 0.1
Unrecognized tax benefit — ending balance $ 4.5 $ 7.1 $ 13.6