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Property and Equipment
 12 Months Ended
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
20202019Useful Lives
Land$19.1 $22.3 Indefinite
Buildings and leasehold improvements74.5 84.8 
3 - 40 years
Office equipment, furniture and fixtures15.3 16.9 
3 -  7  years
Computer equipment and software costs275.8 261.4 
3 -  9  years
Machinery, equipment and vehicles267.7 269.3 
3 - 40 years
652.3 654.8 
Less: Accumulated depreciation and amortization309.7 293.9 
$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,
20202019
Computer software costs$191.7 $169.9 
Less: Accumulated amortization116.1 110.0 
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.