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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Balance as of January 1 $ 18.3 $ 17.7 $ 15.1
Additions for tax positions related to current year 0.1 0.1 2.6
Additions for tax positions related to prior year 0.0 0.5 0.0
Balance as of December 31 $ 18.4 $ 18.3 $ 17.7