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Stockholders' Equity - Reclassifications from Accumulated Other Comprehensive Loss (Details) - Amount Reclassified from Accumulated Other Comprehensive Loss - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]    
Amortization of actuarial losses of defined benefit pension plans [1] $ (0.9) $ (0.8)
Interest income on interest rate swaps [1] 0.1 0.4
Total before tax [1] (0.8) (0.4)
Income tax benefit [1] 0.2 0.1
Total reclassifications for the period, net of tax [1] $ (0.6) $ (0.3)
[1]
Amounts in parentheses indicate losses.