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Restructuring - Activity in Restructuring Programs (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Restructuring Reserve [Roll Forward]    
Balance at beginning of period $ 14.9 $ 12.3
Charged to expense - termination benefits 13.0 16.9
Charged to expense - other 4.2 6.4
Payments (17.1) (20.6)
Foreign currency translation and other 0.5 (0.1)
Balance at end of period 15.5 14.9
Other operating income (expense) | 2020 Plan    
Restructuring Reserve [Roll Forward]    
Non-cash charges $ 2.7 $ 6.0