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Restructuring and Impairment Activities - Restructuring Activities (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Restructuring Reserve [Roll Forward]    
Balance at beginning of period $ 4.9 $ 6.2
Cash payments (0.5) (1.4)
Foreign exchange impact 0.1 (0.1)
Balance at end of period $ 4.5 $ 4.7