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Condensed Consolidated Statements of Comprehensive Income (Unaudited) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Statement of Comprehensive Income [Abstract]    
Net income $ 22.2 $ 23.4
Other comprehensive income (loss):    
Change in foreign currency translation adjustment (1.2) (6.1)
Change in unrecognized net actuarial loss and prior service cost related to pension benefit plans, net of income tax expense of $0.2 and $0.2, respectively 0.7 1.8
Change in unrealized gain or loss on interest rate swaps, net of income tax expense (benefit) of $0.3 and $(1.0), respectively 0.8 (3.1)
Total other comprehensive income (loss) 0.3 (7.4)
Comprehensive income $ 22.5 $ 16.0