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Restructuring Activities - Restructuring Charges (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Restructuring Cost and Reserve        
Total severance costs $ 0.3 $ 2.7 $ 4.8 $ 3.4
Total other restructuring costs 4.0 2.7 4.6 3.6
Total restructuring costs 4.3 5.4 9.4 7.0
Cost of sales        
Restructuring Cost and Reserve        
Total severance costs 0.1 0.0 0.4 0.0
Total other restructuring costs 0.3 0.0 0.3 0.0
Selling, general, and administrative expenses        
Restructuring Cost and Reserve        
Total severance costs 0.2 2.7 4.4 3.4
Total other restructuring costs $ 3.7 $ 2.7 $ 4.3 $ 3.6