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Income Taxes - Components of Income from Continuing Operations Before Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]    
US $ (45.1) $ (89.7)
Foreign 4.0 9.0
Loss from continuing operations before income taxes $ (41.1) $ (80.7)