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Restructuring - Summary of Activity in Restructuring Liability (Parenthetical) (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Mar. 31, 2023
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 23.1 $ 28.4 $ 9.5 $ 8.7
Employee termination costs        
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 22.3 [1] 27.5 8.9 8.7
Payment period for restructuring costs 12 months      
Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring reserve $ 0.8 [2] $ 0.9 $ 0.6 $ 0.0
Payment period for restructuring costs 9 months      
[1] We expect the remaining $22.3 million employee termination costs to be substantially paid in the next twelve months.
[2] We expect the remaining $0.8 million of other costs to be substantially paid in the next nine months.