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Leases - Lease Cost (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Finance lease cost      
Interest on lease liabilities $ 7.5 $ 7.5 $ 6.8
Net lease cost 33.4 33.3 31.5
Cost of sales      
Lessee, Lease, Description [Line Items]      
Operating lease cost 19.9 19.5 19.4
Finance lease cost      
Amortization of leased assets 3.0 3.3 2.6
Selling, general, and administrative expenses      
Lessee, Lease, Description [Line Items]      
Operating lease cost 1.4 1.4 1.9
Finance lease cost      
Amortization of leased assets $ 1.6 $ 1.6 $ 0.8