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Restructuring - Summary of Activity in Restructuring Liability (Parenthetical) (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Mar. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 9.5 $ 8.7 $ 3.2 $ 4.5
Employee termination costs        
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 8.9 [1] 8.7 [1] $ 2.7 $ 3.4
Payment period for restructuring costs 12 months      
Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve [2] $ 0.6 $ 0.0    
Payment period for restructuring costs 12 months      
[1] We expect the remaining $8.9 million employee termination costs to be substantially paid in the next twelve months.
[2] We expect the remaining $0.6 million of other costs to be substantially paid in the next twelve months.