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Restructuring - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2021 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring charges |  | $ (0.8) | $ 6.6 | $ 10.3
Asset impairments |  | 0.6 | 4.7 | $ 25.6
Restructuring, 2020 Initiative |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring charges |  | (0.8) | $ 6.6 |
Asset impairments | $ 18.6 | $ 18.6 |  |

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