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Income Taxes - Components of Earnings Before Income Tax Expense (Benefit) (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Domestic $ (40.0) $ (8.6) $ (26.8)
Foreign (16.7) 3.7 2.2
Loss before income tax benefit $ (56.7) $ (4.9) $ (24.6)