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Restructuring Activities - Narratives (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Restructuring and Related Activities [Abstract]        
Restructuring costs $ 4.3 $ 5.4 $ 9.4 $ 7.0