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Stockholders' Equity - Reclassifications from Accumulated Other Comprehensive Loss (Details) - Amount Reclassified from Accumulated Other Comprehensive Loss - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Amortization of actuarial losses of defined benefit pension plans	$ (0.5)	$ (0.7)
Interest rate swaps	0.7	(0.2)
Total before tax	0.2	(0.9)
Income tax (expense) benefit	(0.1)	0.2
Total reclassifications for the period, net of tax	$ 0.1	$ (0.7)

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Amount, before tax, of reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

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