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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 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]        
Amortization of actuarial losses of defined benefit pension plans [1] $ (0.9) $ (0.7) $ (1.8) $ (1.5)
Amortization of prior service costs of defined benefit pension plans [1] (0.1) (0.1) (0.1) (0.1)
Interest rate swaps [1] (0.1) 0.3 0.0 0.7
Total before tax [1] (1.1) (0.5) (1.9) (0.9)
Income tax benefit [1] 0.2 0.0 0.4 0.1
Total reclassifications for the period, net of tax [1] $ (0.9) $ (0.5) $ (1.5) $ (0.8)
[1] Amounts in parentheses indicate losses.