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Restructuring and Impairment Activities (Tables)
3 Months Ended
Mar. 31, 2024
Restructuring and Related Activities [Abstract]  
Schedule of Total Restructuring, Restructuring Related, and Impairment Expense and Changes in Restructuring Liabilities
The following table summarizes total restructuring, and impairment expense (in millions):
Three Months Ended March 31,
20242023
Restructuring and impairment expense:
Severance$12.7 $0.1 
Other1.7 0.7 
Total restructuring and impairment expense
$14.4 $0.8 
The following table summarizes changes in restructuring liabilities (in millions):
Three Months Ended March 31,
20242023
Balance at beginning of period$3.8 $4.0 
Accruals for announced programs4.3 — 
Cash payments(2.2)(0.3)
Balance at end of period$5.9 $3.7