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Restructuring Activities - Restructuring Accrual, Spending and Other Activity and Accrual Balance Remaining (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Restructuring Reserve [Roll Forward]    
Restructuring accrual at beginning of period   $ 14.3
Accrual and accrual adjustments   4.5
Cash payments during period   (9.0)
Effect of changes in foreign currency exchange rates   (0.4)
Restructuring accrual at end of period $ 9.4 $ 9.4
Restructuring program related to recent acquisitions $ 1.9