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Accumulated other Comprehensive Income (Tables)
 12 Months Ended
Dec. 31, 2020
Accumulated Other Comprehensive Income [Abstract]  
Schedule of Accumulated Other Comprehensive Income (Loss) [Table Text Block] The following table sets forth the changes in AOCI by component during the years ended December 31, 2020, 2019 and 2018:
(in millions)Foreign Currency Translation Gain (Loss)Net Actuarial Gain and Prior Service CostAmortization of Gain on Interest Rate SwapNet Gain (Loss) on Marketable Securities Held in TrustTotal
Balance at December 31, 2017$(955.7)$(94.7)$(1.8)$(9.4)(1,061.6)
Other comprehensive income(621.4)(8.2)2.3 4.8 (622.5)
Tax (expense) or benefit24.5 (2.4)(0.1)(0.2)21.8 
Other comprehensive income, net of tax(596.9)(10.6)2.2 4.6 (600.7)
Addback: loss attributable to noncontrolling interest5.2 — — — 5.2 
Balance at December 31, 2018$(1,547.4)$(105.3)$0.4 $(4.8)$(1,657.1)
Other comprehensive income (loss)74.1 (26.2)2.2 14.0 64.1 
Tax (expense) or benefit(4.7)1.9 (0.5)(3.1)(6.4)
Other comprehensive income (loss), net of tax69.4 (24.3)1.7 10.9 57.7 
Addback: loss attributable to noncontrolling interest1.2 — — — 1.2 
Balance at December 31, 2019$(1,476.8)$(129.6)$2.1 $6.1 $(1,598.2)
Other comprehensive income (loss)(246.1)12.2 2.0 16.6 (215.3)
Tax (expense) or benefit(3.4)7.7 (0.4)(3.8)0.1 
Other comprehensive income (loss), net of tax(249.5)19.9 1.6 12.8 (215.2)
Addback: loss attributable to noncontrolling interest7.2 — — — 7.2 
Balance at December 31, 2020$(1,719.1)$(109.7)$3.7 $18.9 $(1,806.2)