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Restructuring - Summary of Activity Relating to Restructuring Plan Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2023
Restructuring and Related Activities [Abstract]        
Beginning balance $ 2.1 $ 1.9 $ 1.7 $ 1.7
Restructuring costs 1.6 1.2 1.4  
Costs paid or otherwise settled (1.8) (1.0) (1.2)  
Ending balance $ 1.9 $ 2.1 $ 1.9 $ 1.9