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Restructuring Activities - Restructuring Charges (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve |  |  |
Total severance costs | $ 12.1 | $ 0.0 | $ 1.2
Total other restructuring costs (credits) | 1.4 | (1.0) | 2.3
Restructuring costs | 13.5 | (1.0) | 3.5
Cost of sales |  |  |
Restructuring Cost and Reserve |  |  |
Total severance costs | 0.3 | 0.0 | 0.4
Total other restructuring costs (credits) | 0.2 | (1.0) | 2.2
Selling, general, and administrative expenses |  |  |
Restructuring Cost and Reserve |  |  |
Total severance costs | 11.8 | 0.0 | 0.8
Total other restructuring costs (credits) | $ 1.2 | $ 0.0 | $ 0.1

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