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Restructuring and Impairment Activities (Tables)
6 Months Ended
Jun. 30, 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
June 30,
Six Months Ended
June 30,
2024202320242023
Restructuring expense:
Severance and termination benefits$3.1 $— $16.7 $0.1 
Other1.5 0.5 2.3 1.2 
Total restructuring expense4.6 0.5 19.0 1.3 
Impairment expense:
Asset impairment7.2 — 7.2 — 
Total impairment expense7.2 — 7.2 — 
Total restructuring and impairment expense
$11.8 $0.5 $26.2 $1.3 

The following table summarizes changes in restructuring liabilities (in millions):
20242023
Balance at beginning of the period$3.8 $4.0 
Charges for restructuring programs19.0 1.3 
Cash payments and other(18.0)(2.0)
Balance at June 30,
$4.8 $3.3