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Restructuring and Impairment Activities - Restructuring Liabilities (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Restructuring Reserve [Roll Forward]    
Balance at beginning of year $ 7.4 $ 0.5
Accruals for announced programs 4.7 11.9
Cash payments (5.7) (5.2)
Exchange rate impacts (0.2) 0.2
Balance at end of period $ 6.2 $ 7.4