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Management Actions - Pre-Tax Severance Related Charges (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]    
Total pre-tax restructuring costs $ 2.9 $ 4.1
Selling, General and Administrative Expenses    
Restructuring Cost and Reserve [Line Items]    
Severance-related costs 1.9 2.2
Other costs 0.3 1.6
Cost of Sales    
Restructuring Cost and Reserve [Line Items]    
Severance-related costs 0.7 0.0
Other costs $ 0.0 $ 0.3