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Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Statement of Stockholders' Equity [Abstract] |  |  |
Dividends per share (in usd per share) | $ 3.08 | $ 2.95 | $ 2.43
Pension and post-retirement liability changes, tax benefit | $ (1.0) | $ 24.8 | $ 1.6
Change in cash flow hedges, tax benefit | $ 2.5 | $ 2.0 | $ 4.7

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