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Condensed Consolidated Statements of Comprehensive Income (Unaudited) (Parenthetical) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Statement of Comprehensive Income [Abstract]    
Tax expense on change in unrecognized net actuarial losses and prior service cost related to pension benefit plans $ 0.4 $ 0.2
Tax expense on unrealized net gain on derivatives $ 0.7 $ 0.3