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Income Taxes - Income (Loss) from Continuing Operations before Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
U.S. $ 132.1 $ 94.8 $ 107.4
Non-U.S. 18.8 22.8 17.2
Income before income taxes $ 150.9 $ 117.6 $ 124.6