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Condensed Consolidated Statements of Comprehensive Income (Unaudited) (Parenthetical) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Statement of Comprehensive Income [Abstract]    
Income tax expense on change in unrecognized net actuarial losses and prior service cost related to pension benefit plans $ 0.2 $ 0.2
Income tax benefit on unrealized gain or loss on interest rate swaps $ 0.3 $ (1.0)