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Restructuring Charges - Summary of Restructuring Reserve (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restructuring Reserve [Roll Forward]      
Beginning balance $ 4.7 $ 1.5  
Expenses 0.8 6.7 $ 3.1
Payments (5.0) (3.5)  
Ending balance $ 0.5 $ 4.7 $ 1.5