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Restructuring - Restructuring Reserve (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Restructuring Reserve [Roll Forward]        
Beginning balance     $ 48.7  
Expenses, net of changes to estimates $ 2.1 $ 3.4 2.5 $ 5.8
Payments made     (26.1)  
Foreign currency translation     0.3  
Ending balance $ 25.4   $ 25.4