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Other Comprehensive Income - Components of Accumulated Comprehensive Loss (Details) - USD ($) $ in Millions | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Dec. 31, 2021
--- | --- | --- | --- | --- | --- | ---
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |  |  |
Accumulated other comprehensive loss, net of tax | $ 1,149.0 | $ 1,159.3 | $ 1,179.3 | $ 694.5 | $ 701.4 | $ 682.2
Accumulated other comprehensive loss, net of tax |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |  |  |
Accumulated other comprehensive loss, net of tax | (73.4) | $ (87.9) | (95.4) | $ (96.5) | $ (88.3) | $ (119.0)
Accumulated pension and OPEB liability adjustments, net of income tax benefit of $1.8 million and $2.5 million at June 30, 2023 and December 31, 2022, respectively |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |  |  |
Accumulated other comprehensive loss, tax benefit | 1.8 |  | 2.5 |  |  |
Accumulated other comprehensive loss, net of tax | (10.4) |  | (10.9) |  |  |
Accumulated unrealized gain on derivative instruments, net of income tax benefit of $14.0 million and $12.9 million at June 30, 2023 and December 31, 2022, respectively |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |  |  |
Accumulated other comprehensive loss, tax benefit | (14.0) |  | (12.9) |  |  |
Accumulated other comprehensive loss, net of tax | 44.3 |  | 44.4 |  |  |
Accumulated unrealized foreign currency translation adjustments, net of income tax benefit of $15.6 million and $17.0 million at June 30, 2023 and December 31, 2022, respectively |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |  |  |
Accumulated other comprehensive loss, tax benefit | 15.6 |  | 17.0 |  |  |
Accumulated other comprehensive loss, net of tax | $ (107.3) |  | $ (128.9) |  |  |

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