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Cost-Reduction Actions - Statement of Income Classifications (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Restructuring Cost and Reserve [Line Items]    
Cost-reduction charges and other costs $ 6.3 $ (2.8)
Cost of revenue    
Restructuring Cost and Reserve [Line Items]    
Cost-reduction charges and other costs 1.0 0.6
Selling, general and administrative    
Restructuring Cost and Reserve [Line Items]    
Cost-reduction charges and other costs 3.8 0.0
Research and development    
Restructuring Cost and Reserve [Line Items]    
Cost-reduction charges and other costs 1.0 0.1
Other (expense), net    
Restructuring Cost and Reserve [Line Items]    
Cost-reduction charges and other costs $ 0.5 $ (3.5)