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Income Taxes (Details) - USD ($) $ in Millions | 3 Months Ended
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Mar. 31, 2020 | Mar. 31, 2019
Income Tax Disclosure [Abstract] |  |
Effective income tax rate on continuing operations (as a percent) | 18.90% | 23.60%
Anticipated effective tax rate for beginning of year to date (as a percent) | 23.90% |
Discrete income tax expense (benefit) | $ 3.8 |
Decrease in unrecognized tax benefits | 2.8 |
Excess tax benefits related to employee stock compensation | $ 1.0 |

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