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Discontinued Operations - Loss, Assets and Liabilities of Discontinued Operations (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]          
Loss from discontinued operations, net of income taxes $ (2.3) $ (3.4) $ (4.5) $ (6.8)  
Discontinued Operations, Held-for-sale or Disposed of by Sale          
Liabilities:          
Accounts payable and accrued expenses 55.7   55.7   $ 58.8
Other noncurrent liabilities 92.8   92.8   105.5
Total liabilities classified as discontinued operations $ 148.5   $ 148.5   $ 164.3