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Since the ancient times, we try to keep our mouth and teeth clean. Until we found out how bacteria work, we used some pretty unsanitary methods for that but in time we learned and today our hygiene standards are pretty high. Read more about history of oral hygiene.
Dental floss has a history that his maybe longer than of the toothbrush but we know for sure that it is in use since the 19th century. It is in the wider use since the invention of synthetic materials like nylon.
Dentures are old invention and although they were crude in the beginning, people wore them rather than to eat without them. At first they were made from materials from nature but in time we started making them from synthetic materials which made them better. Read more about history of dentures.
Except with dentures, missing teeth can be replaced with dental implants. People made and used dental implants since some 4000 years ago, using bamboo pegs and seashells instead of missing teeth.