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Property, Plant and Equipment, Net (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Property, Plant and Equipment [Line Items]      
Property, plant and equipment $ 599.6 $ 589.2  
Less: accumulated depreciation (429.5) (404.1)  
Property, plant and equipment, net [1] 170.1 185.1  
Computer software included in net property, plant and equipment 37.9 52.5  
Amortization of software costs 14.1 13.9 $ 12.9
Land and improvements      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment 20.9 20.6  
Buildings and improvements to leaseholds      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment 130.7 125.3  
Machinery and equipment      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment 442.9 439.5  
Construction in progress      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment $ 5.1 $ 3.8  
[1] Net property, plant and equipment as of December 31, 2023 and 2022 contained $37.9 million and $52.5 million of computer software assets, respectively, which are classified within machinery and equipment and construction in progress. Depreciation expense for software was $14.1 million, $13.9 million and $12.9 million for the years ended December 31, 2023, 2022, and 2021, respectively.