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Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) $ in Millions | Mar. 31, 2021 | Dec. 31, 2020
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Statement of Financial Position [Abstract] |  |
Receivables allowance | $ 6.3 | $ 6.8
Preferred stock, par value (in dollars per share) | $ 1 | $ 1
Preferred stock, authorized shares (in shares) | 5,000,000.0 | 5,000,000.0
Preferred stock, unissued shares (in shares) | 5,000,000.0 | 5,000,000.0
Common stock, par value (in dollars per share) | $ 1 | $ 1
Common stock, authorized shares (in shares) | 200,000,000.0 | 200,000,000.0
Common stock, shares outstanding (in shares) | 52,100,000 | 52,900,000
Treasury, shares (in shares) | 26,300,000 | 25,500,000

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