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Income Taxes - Income Taxes (Provision for) Benefit (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income from continuing operations:      
United States $ 89.5 $ 89.4 $ 74.5
Foreign 27.0 (4.4) 10.0
Income from continuing operations before income taxes 116.5 85.0 84.5
Current:      
United States (0.7) 6.8 1.5
Foreign (3.8) (5.5) (3.2)
Total current (4.5) 1.3 (1.7)
Deferred and other:      
United States (11.3) (14.2) (0.6)
Foreign 0.0 (1.0) (0.3)
Total deferred and other (11.3) (15.2) (0.9)
Total provision $ (15.8) $ (13.9) $ (2.6)