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Restructuring - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Restructuring Cost and Reserve [Line Items]        
Restructuring costs $ 3.0 $ 3.1 $ 5.1 $ 4.8
Minimum        
Restructuring Cost and Reserve [Line Items]        
Additional restructuring charges to be incurred 6.0   6.0  
Maximum        
Restructuring Cost and Reserve [Line Items]        
Additional restructuring charges to be incurred $ 8.0   $ 8.0