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Accumulated Other Comprehensive Loss - Changes in accumulated other comprehensive loss (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Currency translation adjustments    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Equity beginning balance $ (17.0) $ (16.3)
Other comprehensive income (loss), net of tax, before reclassifications 0.1 0.1
Reclassification from accumulated other comprehensive income, current period, net of tax 0.0 0.0
Reclassification from AOCI, Current Period, Tax 0.0 0.0
Other comprehensive income (loss) 0.1 0.1
Equity ending balance (16.9) (16.2)
Unrealized loss on derivative financial instruments    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Equity beginning balance 1.3 (3.0)
Other comprehensive income (loss), net of tax, before reclassifications 0.1 1.6
Reclassification from accumulated other comprehensive income, current period, net of tax (0.4) 0.5
Reclassification from AOCI, Current Period, Tax 0.1 (0.1)
Other comprehensive income (loss) (0.3) 2.1
Equity ending balance 1.0 (0.9)
Accumulated other comprehensive loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Equity beginning balance (15.7) (19.3)
Other comprehensive income (loss), net of tax, before reclassifications 0.2 1.7
Reclassification from accumulated other comprehensive income, current period, net of tax (0.4) 0.5
Reclassification from AOCI, Current Period, Tax 0.1 (0.1)
Other comprehensive income (loss) (0.2) 2.2
Equity ending balance $ (15.9) $ (17.1)