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Income Taxes (Details) - USD ($) $ in Millions | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Income Tax Disclosure [Abstract] |  |
Effective income tax rate on continuing operations (as a percent) | 21.30% | 19.30%
Anticipated effective tax rate for beginning of year to date (as a percent) | 24.20% |
Discrete income tax expense (benefit) | $ 1.8 |

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