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Leases (Tables)
12 Months Ended
Dec. 31, 2020
Leases [Abstract]  
Lessee, Operating Lease, Liability, Maturity [Table Text Block]
Minimum future lease payments due in each of the next five years and thereafter, as of December 31, 2020, are presented in the table below.
(in millions)
2021$191.6 
2022156.4 
2023127.9 
2024107.7 
202585.7 
Thereafter293.7 
Total future minimum lease payments$963.0 
Less imputed interest113.4 
Total$849.6 
Lease, Cost [Table Text Block]
Other information related to operating leases was as follows.
December 31, 2020
Weighted average remaining lease term7.1 years
Weighted average discount rate3.5 %