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Income Taxes (Details) - USD ($) $ in Millions | 6 Months Ended
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Jun. 30, 2020 | Jun. 30, 2019
Income Tax Disclosure [Abstract] |  |
Effective income tax rate on continuing operations (as a percent) | 20.80% | 21.80%
Anticipated effective tax rate for beginning of year to date (as a percent) | 24.00% |
Discrete income tax expense (benefit) | $ 5.3 |
Decrease in unrecognized tax benefits | $ 5.5 |

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