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Shareholders' Equity - Components of Accumulated Other Comprehensive Loss, Net of Tax (Parenthetical) (Details) - USD ($) $ in Millions | Sep. 30, 2023 | Dec. 31, 2022
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Gain on interest rate swap, net of income taxes of $0.4 on both dates |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |
Accumulated other comprehensive loss, income taxes | $ 0.4 | $ 0.4
Defined benefit pension plans, net of income tax benefit of $(20.1) and $(20.4), respectively |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |
Accumulated other comprehensive loss, income taxes | (20.1) | (20.4)
Gain (loss) on derivative instruments, net of income taxes (benefit) of $(8.1) and $(5.3), respectively |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |
Accumulated other comprehensive loss, income taxes | (4.8) | (5.3)
Translation loss on long-term intercompany loans, net of income taxes of $19.1 on both dates |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |
Accumulated other comprehensive loss, income taxes | 19.1 | 19.1
Retiree health care plan, net of income taxes of $1.8 and $1.9, respectively |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |
Accumulated other comprehensive loss, income taxes | $ 1.8 | $ 1.9

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