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Leases (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Operating lease cost $ 82.2 $ 82.1 $ 84.4
Operating lease cost from related parties 1.9 1.9 $ 2.5
Cash payments for operating leases 81.7 81.7  
Right-of-use assets obtained in exchange for operating lease obligations $ 46.8 $ 58.8  
Weighted average remaining lease term - operating leases 5 years 9 months 18 days 5 years 8 months 12 days  
Weighted average discount rate - operating leases 3.30% 3.70%  
Maturities of operating lease liabilities      
2022 $ 62.1    
2023 50.7    
2024 39.9    
2025 27.9    
2026 17.8    
Thereafter 52.0    
Total operating lease payments 250.4    
Less: imputed interest (29.3)    
Total operating lease liabilities 221.1    
Maximum      
Finance right-of-use assets 1.0    
Finance right-of-use obligations $ 1.0