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Property, Plant and Equipment
 12 Months Ended
Dec. 31, 2021
Property, Plant and Equipment [Abstract]  
Property, Plant and Equipment Property, Plant and Equipment
The components of property, plant and equipment at December 31 were as follows:
 20212020
Land$2.2 $2.2 
Buildings77.5 80.2 
Machinery and other equipment164.4 176.1 
Computer equipment117.5 110.9 
Software77.4 75.7 
 439.0 445.1 
Accumulated depreciation(336.2)(317.8)
 $102.8 $127.3 

Depreciation and amortization expense related to property, plant and equipment was $49.7, $46.7 and $43.1 for the years ended December 31, 2021, 2020 and 2019, respectively.