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Restructuring Activities - Restructuring Accrual, Spending and Other Activity and Accrual Balance Remaining (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2021
Restructuring Reserve [Roll Forward]    
Restructuring accrual at beginning of period   $ 14.3
Accrual and accrual adjustments   2.1
Cash payments during period   (6.5)
Effect of changes in foreign currency exchange rates   (0.3)
Restructuring accrual at end of period $ 9.6 $ 9.6
Restructuring program related to recent acquisitions $ 2.0