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Income Taxes - Components of unrecognized tax positions (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
Unrecognized tax benefits - Temporary Differences	$ 5.1	$ 6.8	$ 7.9
Other unrecognized tax benefits	1.4	1.4	1.6
Gross unrecognized tax benefits	6.5	8.2	9.5	$ 8.4
Accrued interest and penalties related to unrecognized tax benefits	$ 0.0	$ 0.0	$ 0.1

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The amount of the unrecognized tax benefit of a position taken for which it is reasonably possible that the total amount thereof will significantly increase or decrease within twelve months of the balance sheet date.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15
-Subparagraph (d)
-URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32718-109319

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 45
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-URI http://asc.fasb.org/extlink&oid=120406818&loc=SL37586934-109318

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-Publisher FASB
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Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15
-Subparagraph (c)
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The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate.

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-Name Accounting Standards Codification
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