To do the work someone else has left undone.
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To take on work that someone else has left undone.
When you pick up the slack, you cover a gap left by absence, understaffing or someone not doing their share.
It usually carries either gratitude toward the person covering or criticism of the gap.
"Pull Your Weight"
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Do your own fair share, nothing extra
"Step Up"
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Take on more responsibility by choice
"Pick Up the Slack"
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Cover work someone else didn't do