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Goodwill and Other Intangible Assets, net - Amortization (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Finite-Lived Intangible Assets [Line Items]      
Total amortization expense $ 33.6 $ 33.2 $ 32.6
Cost of sales      
Finite-Lived Intangible Assets [Line Items]      
Total amortization expense 0.0 0.0 0.1
Selling, general, and administrative expenses      
Finite-Lived Intangible Assets [Line Items]      
Total amortization expense $ 33.6 $ 33.2 $ 32.5