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Goodwill and Other Intangible Assets Estimated future amortization of other intangible assets (Tables)
 12 Months Ended
Dec. 31, 2020
Summary of Other Intangible Assets [Abstract]  
Schedule of Finite-Lived Intangible Assets, Future Amortization Expense [Table Text Block] The estimated annual amortization expense for other intangible assets for the next five years as of December 31, 2020 is listed below.
20212022202320242025
Estimated amortization expense$88.3 $83.8 $79.0 $77.3 $74.5