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Stock-based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Aggregate number of shares of common stock issued or transferred under the incentive stock awards plan (in shares) | 3,570,891 |  |
Stock based compensation expense | $ 41.2 | $ 26.5 | $ 28.2
Tax benefit from exercise of stock options | 10.1 | 6.6 | 6.9
Excess tax benefit from share-based compensation, operating activities | $ 2.6 | $ 4.8 | $ 5.7
Stock options granted (in shares) | 400,000 | 293,000 | 361,000
Aggregate Intrinsic value of options exercised | $ 24.9 | $ 6.5 | $ 6.6
Fair value of options vested | 7.8 | 4.6 | 3.5
Continuing Operations |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock based compensation expense | $ 35.8 | $ 21.2 | $ 21.3
2015 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Unexercised options lapse period (in years) | 10 years |  |
2001 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Unexercised options lapse period (in years) | 10 years |  |
Employee Matters Agreement |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated Share Based Compensation Expense, Award Modifications | $ 5.2 |  |
Retirement-Related Modifications |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Converted wards, incremental cost | 4.5 |  |
Converted awards, incremental cost related to accelerated vesting of equity awards | 8.7 |  |
Converted awards, incremental cost recognized | $ 13.2 |  |
Employee Stock |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Aggregate number of shares of common stock issued or transferred under the incentive stock awards plan (in shares) | 75,314 |  |
Unrecognized compensation expense related to non-vested award | $ 13.5 |  |
Unrecognized compensation expense related to non-vested award, recognition period (in years) | 1 year 4 months 2 days |  |
Weighted average grant date fair value (in dollars per share) | $ 38.55 | $ 42.07 | $ 35.74
Employee Stock | Minimum | 2015 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 1 year |  |
Employee Stock | Minimum | 2001 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 1 year |  |
Employee Stock | Maximum | 2015 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 3 years |  |
Employee Stock | Maximum | 2001 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 5 years |  |
Restricted Stock |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock granted (in shares) | 375,000 | 225,000 | 248,000
Weighted average grant date fair value (in dollars per share) | $ 41.45 | $ 54.28 | $ 46.01
Total fair value of shares vesting | $ 10.5 | $ 14.6 | $ 24.8
Restricted Stock | Executive Officer Performance Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 3 years |  |
Restricted Stock | Minimum | 2015 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 1 year |  |
Restricted Stock | Minimum | 2001 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 1 year |  |
Restricted Stock | Maximum | 2015 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 3 years |  |
Restricted Stock | Maximum | 2001 Incentive Award Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 5 years |  |
Performance Share Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total fair value of shares vesting | $ 18.4 | $ 22.1 | $ 22.6
Performance Share Units | Minimum |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Performance percentage | 0.00% |  |
Performance Share Units | Maximum |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Performance percentage | 200.00% |  |
Performance criteria is met | Performance Share Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Award vesting rights (percentage) | 33.33% |  |
One-year service period | Performance Share Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Vesting period (in years) | 1 year |  |
Award vesting rights (percentage) | 33.33% |  |
Award requisite service period (in years) | 1 year |  |
Two-year service period | Performance Share Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Award vesting rights (percentage) | 33.33% |  |
Award requisite service period (in years) | 2 years |  |

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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