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Pension Plans and Postretirement Benefits - Estimated Future Benefit Payments (Details) - Pension Plan
$ in Millions
Dec. 31, 2023
USD ($)
Domestic  
Defined Benefit Plan Disclosure [Line Items]  
2024 $ 53.0
2025 53.2
2026 55.3
2027 54.7
2028 56.4
2029 - 2033 243.0
Foreign  
Defined Benefit Plan Disclosure [Line Items]  
2024 2.4
2025 2.4
2026 2.7
2027 2.6
2028 3.1
2029 - 2033 $ 14.2