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Revenue Recognition - Reconciliation of Short Term Sales Program Incentives (Details) - USD ($) $ in Millions | 3 Months Ended
--- | ---
Mar. 31, 2022 | Mar. 31, 2021
Sales Incentives, Current [Roll Forward] |  |
Balance as of January 1 | $ 23.3 | $ 26.2
Additions | 15.9 | 14.6
Credits issued | (6.2) | (6.4)
Other/foreign currency translation | (0.7) | (1.0)
Balance as of March 31 | $ 32.3 | $ 33.4

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