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Restructuring - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Restructuring And Related Activities [Abstract]        
Restructuring (income) expense $ (0.4) $ 3.9 $ (0.5) $ 5.6