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Restructuring Activities - Restructuring Accrual, Spending and Other Activity and Accrual Balance Remaining (Details)
$ in Millions
3 Months Ended
Mar. 31, 2021
USD ($)
Restructuring Reserve [Roll Forward]  
Restructuring accrual at beginning of period $ 14.3
Accrual and accrual adjustments 0.0
Cash payments during period (3.7)
Effect of changes in foreign currency exchange rates (0.3)
Restructuring accrual at end of period 10.3
Restructuring program related to recent acquisitions $ 2.2