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Restructuring - Activity in Restructuring Programs (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Restructuring Reserve [Roll Forward]    
Balance at beginning of period $ 15.5 $ 14.9
Charged to expense - termination benefits 9.3 0.9
Charged to expense - other 0.4 1.1
Payments (4.3) (3.6)
Currency translation adjustment and other (0.3) 0.1
Balance at end of period $ 20.6 13.4
Restructuring Program 2020 | Other Operating Expense, Net    
Restructuring Reserve [Roll Forward]    
Non-cash charges   $ 0.9