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Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Income Tax Disclosure [Abstract] |  |  |
U.S. Federal statutory rate | $ 153.3 | $ 137.5 | $ 127.8
Impacts of Tax Cuts and Jobs Act Enactment | 0.0 | 0.0 | 7.8
Foreign earnings subject to different tax rates | (127.6) | (137.7) | (154.9)
State and local income taxes, less federal income tax benefit | 2.7 | (2.9) | 1.4
Research and development and miscellaneous tax credits | (6.2) | (3.8) | (3.7)
Tax on dividends, deemed dividends, and GILTI | 46.5 | 46.8 | 45.5
Changes to unrecognized tax benefits | 5.8 | (5.4) | 2.7
Nondeductible expenses | 5.5 | 3.5 | 12.4
Change in valuation allowance | 52.1 | 49.9 | 7.4
Exchange gains and losses | (2.1) | (2.1) | 5.7
Other | 20.9 | 25.7 | 18.7
Total | 150.9 | 111.5 | 70.8
Tax expense associated with GILTI provision | $ 40.7 | $ 41.6 | $ 43.8

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