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Restructuring and Related Activities - Costs Recognized and Remaining Costs (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Restructuring Cost and Reserve [Line Items]      
Restructuring charges $ 0.5 $ 10.6 $ 6.0
Restructuring Charges [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 0.5 10.0 4.3
Cost of Goods Sold, Restructuring Charges [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 0.0 2.3 1.7
Severance Pay and Benefits      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 0.5 9.4 6.0
Facility Closing [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges $ 0.0 $ 1.2 $ 0.0