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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, 2021
Mar. 31, 2020
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]    
Amortization of actuarial losses of defined benefit pension plans $ (1.2) $ (0.9)
Amortization of prior service costs of defined benefit pension plans 0.0 0.0
Interest rate swaps 0.2 0.1
Total before tax (1.0) (0.8)
Income tax benefit 0.3 0.2
Total reclassifications for the period, net of tax $ (0.7) $ (0.6)