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Restructuring and Impairment Activities (Tables)
6 Months Ended
Jun. 30, 2022
Restructuring and Related Activities [Abstract]  
Changes in Restructuring Liabilities
The following table summarizes total restructuring and related charges (in millions):

Three Months EndedSix Months Ended
June 30, 2022June 30, 2021June 30, 2022June 30, 2021
Restructuring and impairment expense:
Severance$1.1 $1.3 $1.3 $1.6 
Other1.3 1.0 1.4 2.4 
Asset impairment— — 12.9 — 
Total restructuring and impairment expense$2.4 $2.3 $15.6 $4.0 

The following table summarizes changes in restructuring liabilities (in millions):
Six Months Ended
June 30, 2022June 30, 2021
Balance at beginning of period$6.2 $7.4 
Accruals for announced programs0.4 1.5 
Cash payments(1.9)(3.7)
Foreign exchange impact(0.2)(0.1)
Balance at end of period$4.5 $5.1