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Accumulated Other Comprehensive Loss, Net of Tax Reclassifications from AOCI, net of tax (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]      
Total income tax effect $ (2.2) $ (1.9) $ (2.3)
Total reclassified from AOCI, net of tax 27.5 13.8 22.1
Foreign Currency Translation Adjustment      
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]      
Reclassification from AOCI, before tax 20.0 6.7 15.7
Derivative Instruments      
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]      
Reclassification from AOCI, before tax 2.4 2.3 2.2
Defined Benefit and Postretirement Plans      
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]      
Reclassification from AOCI, before tax $ 7.3 $ 6.7 $ 6.5