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Restructuring Activities - Summary of Statement of Operations Effects (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |
Contract terminations | $ 14.6 | $ 0.0 | $ 0.0
Restructuring charges | 15.6 | 12.1 | 14.5
Total charges | 64.7 | 21.4 | 31.0
Capital expenditures | 0.4 | 9.7 | 8.2
Continuing Operations |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other associated costs | 34.5 | 9.3 | 16.5
Restructuring charges | $ 15.6 | $ 12.1 | $ 14.5

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