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Research and Development (Tables)
12 Months Ended
Dec. 31, 2022
Research and Development [Abstract]  
Research and Development Arrangement, Contract to Perform for Others
Research and development costs are expensed when incurred and are included in “Selling, general and administrative” in our Consolidated Statements of Operations.
(in millions) December 31,202220212020
Research and Development Costs$83.1 $82.7 $74.6