Thanks everyone. I was able to get what I wanted with your suggestions. 
Anything I could be doing better in this snippet?

\version "2.24.1"

top = { \change Staff = "upper" \voiceTwo }
bottom = { \change Staff = "lower" \voiceOne }

upper = \relative c'' {
  \new Voice {
    \voiceOne
    r4 d\(-- cis\)( cis8) r |
    r4 ees--\( d\) f--\( |
    e\) f\( g^\> a\)\!
  }
}

lower =\new Voice \relative c' {
  \voiceOne
  \clef treble r16^\markup { \italic "poco cresc." } d e a gis
  \top
  e gis bes! a
  \bottom
  cis, e bes' a
  \top
  e a cis |
  c!
  \bottom
  ees, f bes a
  \top 
  f a c bes
  \bottom
  d, f c' b
  \top
  g b d |  
  c g 
  \bottom
  e g cis bes
  \top
  bes g
  \bottom
  cis a
  \top
  a f
  \bottom
  cis' a
  \top
  g e |
}

\new PianoStaff <<
  \new Staff = "upper" \upper
  \new Staff = "lower" \lower
>>


> On Aug 9, 2023, at 5:10 AM, Lukas-Fabian Moser <l...@gmx.de> wrote:
> 
> 
> Am 09.08.23 um 03:12 schrieb William Rehwinkel via LilyPond user discussion:
>> \version "2.25.7"
>> 
>> \new PianoStaff <<
>>   \new Staff = "up" \relative g' { \voiceTwo g16 e c \change Staff = "do" 
>> \voiceOne g e g \change Staff = "up" \voiceTwo c e}
>>   \new Staff = "do" \with {\clef bass } s2
>> >>
> 
> This combination (\change Staff = ... \voiceXX) is so common that I tend to 
> abbreviate it:
> 
> \version "2.25.7"
> 
> up = { \change Staff = up \voiceTwo }
> down = { \change Staff = down \voiceOne }
> 
> \new PianoStaff <<
>   \new Staff = up <<
>     \new Voice {
>       \voiceOne
>       e''4 c'' c''2
>       d''4 b'2 c''4
>     }
>     \new Voice \relative {
>       \voiceTwo
>       g'8 e c \down g e g \up c e
>       f e f d e c g g'
>   }
>   >>
>   \new Staff = down \with { \clef bass } {
>     \voiceTwo c4 c c c
>     \oneVoice c c c c
>   }
> >>
> 
> Lukas
> 
> 


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