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Restructuring - Summary of Activity in Restructuring Liability (Parenthetical) (Details) - USD ($)
$ in Millions
 9 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 7.9 $ 8.7 $ 1.9 $ 4.5
Employee termination costs        
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 6.7 [1] 8.7 [1] 1.7 3.4
Payment period for restructuring costs 12 months      
Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 1.2 [2] $ 0.0 [2] $ 0.0 $ 0.0
Payment period for restructuring costs 12 months      
[1] We expect the remaining $6.7 million employee termination costs to be substantially paid in the next twelve months.
[2] We expect the remaining $1.2 million of other costs to be substantially paid in the next twelve months.