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Condensed Consolidated Statements of Comprehensive Income (Unaudited) (Parenthetical) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Statement of Comprehensive Income [Abstract] |  |  |  |
Tax expense on change in unrecognized net actuarial losses and prior service cost related to pension benefit plans | $ 0.0 | $ 0.1 | $ 0.0 | $ 0.5
Tax expense on unrealized net gain on derivatives | $ 0.2 | $ 0.1 | $ (0.1) | $ 0.8

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