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Debt - Summary of Carrying Amounts and Estimated Fair Values of Long-Term Borrowings (Details) - USD ($)
$ in Millions
Jun. 30, 2023
Dec. 31, 2022
Debt Instrument [Line Items]    
Long-term borrowings $ 409.2 $ 363.0
Current portion of long-term borrowings and finance lease obligations $ 3.1 $ 1.5