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Restructuring and Impairment Activities (Tables)
6 Months Ended
Jun. 30, 2021
Restructuring and Related Activities [Abstract]  
Changes in Restructuring Liabilities
The following table summarizes total restructuring and related charges for the three and six months ended June 30, 2021 and 2020:

Three Months EndedSix Months Ended
June 30, 2021June 30, 2020June 30, 2021June 30, 2020
Restructuring and impairment expense:
Severance$1.3 $1.6 $1.6 $1.7 
Other1.0 — 2.4 — 
Total restructuring and impairment expense$2.3 $1.6 $4.0 $1.7 

The following table summarizes changes in restructuring liabilities during the periods ended June 30, 2021 and 2020. ($ in millions):
Six Months Ended
June 30, 2021June 30, 2020
Balance at beginning of year$7.4 $0.5 
Accruals for announced programs1.5 1.7 
Cash payments(3.7)(0.8)
Foreign exchange impact(0.1)— 
Balance at end of period$5.1 $1.4