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Restructuring Activities - Accrual and Payment Activity (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Restructuring Reserve [Roll Forward]        
Restructuring charges $ 4.6 $ 1.4 $ 15.9 $ 1.2
Multi-year restructuring plan | Employee severance and benefits        
Restructuring Reserve [Roll Forward]        
Beginning balance     7.2  
Restructuring charges     9.2  
Payments and other     (15.9)  
Ending balance $ 0.5   $ 0.5