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Income Taxes - Income From Continuing Operations Before Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Disclosure [Abstract]      
United States $ 39.4 $ 32.0 $ 5.5
Foreign 13.4 37.0 5.6
Income from continuing operations before income taxes $ 52.8 $ 69.0 $ 11.1