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Condensed Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Statement of Stockholders' Equity [Abstract]    
Common stock cash dividends (in usd per share) $ 0.10 $ 0.10
Foreign currency, translation adjustments, tax $ 0.4 $ (0.2)
Derivatives designated as hedges, tax 0.8 (2.6)
Pension and other postretirement liability adjustments, tax $ (0.3) $ (0.5)