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Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract]      
Income tax at U.S. statutory rate; 21% $ (2.7) $ 3.1 $ 23.4
Unrecognized tax expense (benefits) 1.0 (7.6) (1.9)
Impact on final GILTI regulations for 2018 and 2019 0.0 0.0 (1.0)
Statutory tax rate changes 0.4 0.6 (6.8)
Statutory tax law changes (3.6) 0.0 (1.2)
State, local and other tax, net of federal benefit (1.3) 1.6 0.6
Impact from foreign inclusions (0.7) 4.0 1.2
U.S. effect of foreign dividends and withholding taxes 3.9 1.8 1.2
Foreign income taxed at a higher effective rate 4.2 3.1 2.9
Brazilian Tax Assessments impact (13.3) 1.9 0.5
Increase (decrease) in valuation allowance 5.4 3.4 (11.4)
General business credit (2.2) (1.9) (2.1)
Excess expense from stock-based compensation 0.6 0.5 0.5
Impairment of non-deductible goodwill 18.8 20.7 0.0
Impact of legal entity rationalization 0.0 (4.1) 0.0
Prior period tax return adjustment (1.0) (0.1) (0.6)
Other (decrease) increase (0.8) 1.1 4.2
Total income tax expense $ 8.7 $ 28.1 $ 9.5
Effective income tax rate (66.40%) 188.60% 8.50%