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Restructuring - Summary of all restructuring activities (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Summary of all restructuring accrual    
Balance at beginning of period $ 5.3 $ 2.0
Restructuring (income) expense (1.1) 9.5
Use of reserve (2.7) (6.2)
Reserve reclassification 0.0 0.0
Currency translation 0.1 0.0
Balance at end of period $ 1.6 $ 5.3