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Property and Equipment | 12 Months Ended
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Dec. 31, 2020
Property, Plant and Equipment [Abstract] |
Property and Equipment | Property and Equipment The amount of property and equipment and their respective estimated useful lives are as follows (in millions):
|  | As of December 31, |  | Estimated
|  | 2020 |  | 2019 |  | Useful Lives
Land |  | $ | 19.1 |  |  | $ | 22.3 |  |  | Indefinite
Buildings and leasehold improvements |  | 74.5 |  |  | 84.8 |  |  | 3 - 40 years
Office equipment, furniture and fixtures |  | 15.3 |  |  | 16.9 |  |  | 3 - 7 years
Computer equipment and software costs |  | 275.8 |  |  | 261.4 |  |  | 3 - 9 years
Machinery, equipment and vehicles |  | 267.7 |  |  | 269.3 |  |  | 3 - 40 years
|  | 652.3 |  |  | 654.8 |  |  |
Less: Accumulated depreciation and amortization |  | 309.7 |  |  | 293.9 |  |  |
|  | $ | 342.6 |  |  | $ | 360.9 |  |  |
For 2020, 2019 and 2018, we recorded depreciation expense of $52.7 million, $54.5 million and $45.6 million, respectively. The amount of computer software costs, including capitalized internally developed software costs and certain hosting arrangement costs are as follows (in millions):
| As of December 31,
| 2020 |  | 2019
Computer software costs | $ | 191.7 |  |  | $ | 169.9 |
Less: Accumulated amortization | 116.1 |  |  | 110.0 |
Computer software costs, net | $ | 75.6 |  |  | $ | 59.9 |
Included in capitalized computer software costs are costs incurred in connection with software development in progress of $13.7 million and $22.5 million as of December 31, 2020 and 2019, respectively. For 2020, 2019 and 2018, we recorded amortization expense related to computer software costs of $18.5 million, $17.8 million and $10.9 million, respectively.

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- Definition The entire disclosure for long-lived, physical asset used in normal conduct of business and not intended for resale. Includes, but is not limited to, work of art, historical treasure, and similar asset classified as collections. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 958 -SubTopic 360 -Section 50 -Paragraph 6 -URI http://asc.fasb.org/extlink&oid=120429125&loc=d3e99893-112916 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 360 -URI http://asc.fasb.org/topic&trid=2155823 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 958 -SubTopic 360 -Section 50 -Paragraph 7 -URI http://asc.fasb.org/extlink&oid=120429125&loc=SL120174063-112916 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 958 -SubTopic 360 -Section 50 -Paragraph 1 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=120429125&loc=d3e99779-112916 + Details
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