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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Statement of Comprehensive Income [Abstract]      
Other comprehensive (income) loss, defined benefit plan, after reclassification adjustment, tax $ 1.2 $ 0.5 $ 5.9
Net unrealized gains (losses) on qualifying cash flow hedges, tax benefit (provision) $ 0.9 $ 0.3 $ 0.7