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Restructuring Charges - Summary of Restructuring Reserve (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Reserve [Roll Forward]      
Beginning balance $ 0.5 $ 4.7  
Expenses 0.0 0.8 $ 6.7
Payments (0.5) (5.0)  
Ending balance $ 0.0 $ 0.5 $ 4.7