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Restructuring and Impairment Activities - Restructuring and Related Charges (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]        
Total restructuring and impairment expense $ 2.3 $ 1.6 $ 4.0 $ 1.7
Severance        
Restructuring Cost and Reserve [Line Items]        
Total restructuring and impairment expense 1.3 1.6 1.6 1.7
Other        
Restructuring Cost and Reserve [Line Items]        
Total restructuring and impairment expense $ 1.0 $ 0.0 $ 2.4 $ 0.0