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Discontinued Operations - Components of Discontinued Operations (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended
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Dec. 31, 2023 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restructuring and other charges (income) | $ (57.2) | $ (8.3) | $ (21.5) | $ (11.5) | $ (55.0) | $ (16.2) | $ (10.8) | $ (15.2) | $ (98.5) | $ (97.2) | $ (68.2)
Adjustment for workers' compensation, product liability, and other postretirement benefits and other, tax |  |  |  |  |  |  |  |  | (0.9) | (2.5) | (10.2)
Provision for environmental liabilities, net of recoveries, tax |  |  |  |  |  |  |  |  | 18.0 | 13.8 | 8.2
Adjustment for workers’ compensation, product liability, and other postretirement benefits and other, net of income tax benefit (expense) of $(0.9) in 2023, $(2.5) in 2022 and $(10.2) in 2021 |  |  |  |  |  |  |  |  |  |  |
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restructuring and other charges (income) |  |  |  |  |  |  |  |  | (3.0) | (3.9) | (8.3)
Provision for environmental liabilities, net of recoveries, net of income tax benefit (expense) |  |  |  |  |  |  |  |  |  |  |
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restructuring and other charges (income) |  |  |  |  |  |  |  |  | (65.6) | (53.8) | (29.7)
Provision for legal reserves and expenses, net of recoveries, net of income tax benefit (expense) of $7.9 in 2023, $10.5 in 2022, and $12.2 in 2021 |  |  |  |  |  |  |  |  |  |  |
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restructuring and other charges (income) |  |  |  |  |  |  |  |  | (29.9) | (39.5) | (45.6)
Discontinued operations, tax |  |  |  |  |  |  |  |  | 7.9 | 10.5 | 12.2
Discontinued Real Estate |  |  |  |  |  |  |  |  |  |  |
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restructuring and other charges (income) |  |  |  |  |  |  |  |  | 0.0 | 0.0 | 15.4
Discontinued operations, tax |  |  |  |  |  |  |  |  | 0.0 | $ 0.0 | $ (4.1)
Discontinued Foreign Environmental Liabilities |  |  |  |  |  |  |  |  |  |  |
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restructuring and other charges (income) |  |  |  |  |  |  |  |  | $ (11.7) |  |

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