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Income Taxes - Pre-tax Income and Provision (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Continuing operations      
U.S. domestic $ 353.3 $ 487.3 $ 382.8
Foreign 50.9 87.8 64.1
Income from continuing operations before income taxes 404.2 575.1 446.9
Discontinued operations      
U.S. domestic (21.8) (4.4) 269.2
Foreign 13.5 22.8 29.9
Income from discontinued operations before income taxes (8.3) 18.4 299.1
Total income before income taxes 395.9 593.5 746.0
Current provision:      
Federal and State 86.0 108.5 71.7
Foreign 18.6 17.7 18.2
Total current provision 104.6 126.2 89.9
Deferred benefit:      
Federal and State (14.8) (7.3) 8.1
Foreign (11.3) (1.6) (9.4)
Total deferred benefit (26.1) (8.9) (1.3)
Total provision for income taxes 78.5 117.3 88.6
Reconciliation of taxes from continuing operations      
Taxes at U.S. statutory rate 84.9 120.8 93.8
State and local taxes, net of federal income tax benefit 11.5 16.2 12.4
Foreign earnings taxed at different rates 1.7 (1.6) (0.5)
Change in unrecognized tax benefit (11.5) (3.1) (7.6)
Return to provision adjustments (2.5) (7.3) (1.3)
Tax credits (4.3) (4.5) (2.5)
Impact of U.S. tax reform 0.0 0.0 (3.3)
Other, net (1.3) (3.2) (2.4)
Provision for income taxes $ 78.5 $ 117.3 $ 88.6
Effective income tax rate on continuing operations (as a percent) 19.40% 20.40% 19.80%
Income Taxes Paid, Net [Abstract]      
Cash payments for income taxes, net of refunds $ 116.6 $ 113.0 $ 195.6