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Restructuring and Impairment Activities (Tables)
6 Months Ended
Jun. 30, 2023
Restructuring and Related Activities [Abstract]  
Schedule of Changes in Restructuring and Impairment Expense
The following table summarizes total restructuring, restructuring related, and impairment expense (in millions):

Three Months Ended June 30,Six Months Ended June 30,
2023202220232022
Restructuring and impairment expense:
Severance$— $1.1 $0.1 $1.3 
Asset impairment— — — 12.9 
Other0.5 1.3 1.2 1.4 
Total restructuring and impairment expense$0.5 $2.4 $1.3 $15.6 
Other restructuring related charges - Cost of products sold
Accelerated depreciation and amortization$— $— $0.3 $— 
Other restructuring related charges - General expense
Accelerated depreciation and amortization0.9 — 1.1 — 
Total restructuring and impairment expense and other restructuring related charges$1.4 $2.4 $2.7 $15.6 

The following table summarizes changes in restructuring liabilities (in millions):
Six Months Ended June 30,
20232022
Balance at beginning of period$4.9 $6.2 
Accruals for announced programs(0.2)0.4 
Cash payments(0.7)(1.9)
Foreign exchange impact— (0.2)
Balance at end of period$4.0 $4.5