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Commitments and Contingencies (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Movement in Standard and Extended Product Warranty, Increase (Decrease) [Roll Forward]      
Beginning balance, January 1 $ 8.1 $ 7.6 $ 7.4
Provision for warranties 5.8 3.0 3.4
Claim settlements (4.7) (4.1) (3.8)
Other adjustments, including acquisitions, divestitures and foreign currency translation (0.1) 1.6 0.6
Ending balance, December 31 $ 9.1 $ 8.1 $ 7.6