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Income Taxes - Summary of Activity Related to Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
Balance at January 1 $ 63.9 $ 54.8 $ 37.4
(Decrease) related to prior year tax positions (5.7)    
Increase related to prior year tax positions   0.3 6.1
Increase related to current year tax positions 3.9 9.5 11.7
Settlements related to prior year tax positions (0.2) 0.0 0.0
Expiration of the statute of limitations for the assessment of taxes (1.1) (0.7) (0.4)
Balance at December 31 $ 60.8 $ 63.9 $ 54.8