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Restructuring and Related Charges - Narrative (Details) - Global Productivity Improvement Plan - USD ($)
$ in Millions
Sep. 30, 2022
Jan. 03, 2021
Restructuring Cost and Reserve [Line Items]    
Cumulative costs incurred   $ 134.5
Forecast    
Restructuring Cost and Reserve [Line Items]    
Cumulative costs incurred $ 31.4