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Long-lived Tangible Assets - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items]          
Accumulated depreciation $ 170.0   $ 170.0   $ 170.5
Depreciation 4.6 $ 4.9 13.9 $ 15.1  
Impairment of Long-Lived Assets to be Disposed of 7.7   7.7    
Cost of sales          
Finite-Lived Intangible Assets [Line Items]          
Impairment of Long-Lived Assets to be Disposed of 7.6   7.6    
Selling, general and administrative expenses          
Finite-Lived Intangible Assets [Line Items]          
Impairment of Long-Lived Assets to be Disposed of $ 0.1   $ 0.1