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Income Taxes - Income (Loss) from Continuing Operations before Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
U.S. $ 107.4 $ 126.0 $ 100.6
Non-U.S. 17.2 12.6 11.0
Income before income taxes $ 124.6 $ 138.6 $ 111.6