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Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Millions	12 Months Ended
	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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