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Restructuring Activities - Narrative (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2022
Dec. 31, 2023
Restructuring Cost and Reserve [Line Items]    
Restructuring and related costs $ 15.2 $ 15.4
Restructuring, incurred cost, statement of income or comprehensive income   Operating Expenses
Restructuring and related cost, cost incurred to date   $ 5.0
Minimum    
Restructuring Cost and Reserve [Line Items]    
Aggregate restructuring costs   5.0
Maximum    
Restructuring Cost and Reserve [Line Items]    
Aggregate restructuring costs   $ 7.0