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Debt - Summary (Details) - USD ($)
$ in Millions
Sep. 30, 2020
Dec. 31, 2019
Debt    
Total $ 1,663.8 $ 1,596.3
Less: unamortized discount and debt issuance costs (19.7) (7.8)
Less: amounts due within one year and short-term borrowings (5.8) (64.9)
Total long-term debt 1,638.3 1,523.6
Unsecured revolving credit facility expiring September 2, 2025    
Debt    
Total 0.0 368.0
Unsecured term loan repaid August 3, 2020    
Debt    
Total   465.0
Senior unsecured notes due April 15, 2023    
Debt    
Total 500.0 500.0
Senior unsecured notes due August 15, 2025    
Debt    
Total 400.0  
Senior unsecured notes due August 15, 2030    
Debt    
Total 500.0  
Senior unsecured notes due November 15, 2036    
Debt    
Total 250.0 250.0
Other notes and revolving credit facilities    
Debt    
Total $ 13.8 $ 13.3