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Summary of Significant Accounting Policies, Revenue Recognition (Details)
$ in Millions
12 Months Ended
Dec. 31, 2020
USD ($)
item
Dec. 31, 2019
USD ($)
Dec. 31, 2018
Dec. 31, 2017
USD ($)
Revenue recognition        
Remaining performance obligation, expected timing for substantial portion of performance obligations 3 months      
Practical expedient, performance obligation true      
Practical expedient, incremental cost of obtaining contract true      
Retained earnings $ 3,705.4 $ 3,348.4    
Minimum        
Revenue recognition        
Payment terms 30 days      
Number of reporting periods that may be extended across for multiple delivery dates | item 1      
Maximum        
Revenue recognition        
Payment terms 120 days      
Percentage of net sales recognized over time 5.00% 5.00% 5.00%  
Remaining performance obligation, expected timing for nearly all performance obligations 1 year      
Impact of ASU 2014-09 adoption - Increase (decrease) to beginning retained earnings | Impact of ASU 2014-09        
Revenue recognition        
Retained earnings       $ 3.2