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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