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Restructuring Activities - Schedule of Board Approved Restructuring (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Total Restructuring Program |  |  |
Total expense | $ 21.4 | $ 31.0 | $ 30.6
Capital expenditures | 9.7 | $ 8.2 | $ 0.4
Program |  |  |
Total Restructuring Program |  |  |
Costs of reduction in headcount as a result of reorganization | 85.0 |  |
Other expenses associated with the Program | 115.0 |  |
Total expense | 200.0 |  |
Capital expenditures | 20.0 |  |
Total estimated cash cost | 220.0 |  |
Total Program Spend |  |  |
Costs of reduction in headcount as a result of reorganization | 87.0 |  |
Other expenses associated with the Program | 112.0 |  |
Total expense | 199.0 |  |
Cumulative capital expenditures | 20.0 |  |
Total estimated cash cost | $ 219.0 |  |

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