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Restructuring Activities - Summary of Restructuring Activities (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Restructuring Cost and Reserve [Line Items]    
Other associated costs $ 5.3 $ 4.0
Restructuring charges 0.0 0.6
Total charges 5.3 4.6
Capital expenditures 1.2 0.2
Continuing Operations    
Restructuring Cost and Reserve [Line Items]    
Other associated costs 5.3 4.0
Restructuring charges $ 0.0 $ 0.6