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Income Taxes (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Income Tax Disclosure [Abstract]          
Effective tax rate, percentage 23.00% 30.00% (112.00%) 32.00%  
Loss of foreign entities $ 10.2 $ 10.7 $ 9.6 $ (3.7)  
Unrecognized tax benefit for uncertain tax positions 24.6   24.6   $ 24.3
Liabilities for interest and penalties, excluded from unrecognized tax benefits for uncertain tax positions 1.3   1.3   $ 1.2
Decrease in unrecognized tax benefits due to the settlement of various audits and expiration of statutes of limitations $ 3.6   $ 3.6