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Property, Plant and Equipment
 12 Months Ended
Dec. 31, 2023
Property, Plant and Equipment [Abstract]  
Property, Plant and Equipment Property, Plant and Equipment
Property, plant and equipment and related accumulated depreciation, including equipment under finance leases, as of December 31, consisted of the following:
20232022
Property, plant and equipment:
Land$21.0 $22.0 
Buildings and improvements137.6 149.0 
Machinery and manufacturing equipment209.5 171.1 
Office equipment116.0 107.7 
Construction in progress7.6 9.4 
Total property, plant and equipment491.7 459.2 
Less: accumulated depreciation(304.0)(279.3)
Property, plant and equipment, net$187.7 $179.9 
Depreciation expense was $36.4 million, $32.8 million and $33.1 million in 2023, 2022 and 2021, respectively.