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Restructuring and Other Impairment Activities - Narrative (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Restructuring Cost and Reserve [Line Items]        
Restructuring and other impairment expense $ 16,300,000 $ 1,800,000 $ 17,600,000 $ 17,300,000
Proceeds from sale of assets     0 7,400,000
Other restructuring costs 2,800,000 0 3,100,000 0
ATM        
Restructuring Cost and Reserve [Line Items]        
Restructuring and other impairment expense 6,800,000 900,000 8,000,000 14,900,000
Impairment of long-lived asset 5,500,000      
Restructuring charges 5,500,000   5,500,000  
Proceeds from sale of assets   4,600,000    
Loss from sale of assets   400,000    
ATM | Closed Facility        
Restructuring Cost and Reserve [Line Items]        
Restructuring and other impairment expense   700,000 1,500,000  
Restructuring charges 500,000 2,700,000 500,000 2,700,000
Restructuring expected cost 3,100,000   3,100,000  
FBS        
Restructuring Cost and Reserve [Line Items]        
Restructuring and other impairment expense     9,600,000 1,600,000
FBS | Closed Facility        
Restructuring Cost and Reserve [Line Items]        
Restructuring and other impairment expense       1,600,000
FBS | Equipment        
Restructuring Cost and Reserve [Line Items]        
Restructuring and other impairment expense 9,500,000      
Corporate        
Restructuring Cost and Reserve [Line Items]        
Restructuring and other impairment expense $ 0 $ 800,000 $ 1,100,000 $ 800,000