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Income Taxes, Unrecognized tax benefits (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Taxes      
Unrecognized tax benefits, anticipated adjustment for changing facts and circumstances, over the next twelve month period $ 24.6    
Amount for unrecognized tax benefits, including penalties and interest, which if recognized would impact the effective tax rate 169.3 $ 171.0  
Reconciliation of the gross amounts of unrecognized tax benefits      
Unrecognized tax benefits as of January 1 159.1 130.5 $ 127.3
Gross increases for tax positions in prior periods 5.4 20.9 18.9
Gross increases for tax positions in current period 16.4 9.0 2.0
Settlements (38.8) 0.0 (14.1)
Lapse of statute of limitations (6.8) (1.3) (3.6)
Unrecognized tax benefits at the end of the period 135.3 159.1 130.5
Estimated interest and penalties included in provision for income taxes 2.8 4.4 1.1
Tax-related interest and penalties liability for unrecognized tax benefits $ 39.2 $ 42.2 $ 40.5