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Restructuring Activities - Restructuring Charges (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Restructuring Cost and Reserve        
Severance costs $ 2.7 $ 0.1 $ 3.4 $ 0.1
Other restructuring costs 2.7 0.1 3.6 0.2
Total restructuring costs 5.4 0.2 7.0 0.3
Cost of sales        
Restructuring Cost and Reserve        
Severance costs 0.0 0.1 0.0 0.2
Other restructuring costs 0.0 0.0 0.0 0.1
Selling, general, and administrative expenses        
Restructuring Cost and Reserve        
Severance costs 2.7 0.0 3.4 (0.1)
Other restructuring costs $ 2.7 $ 0.1 $ 3.6 $ 0.1