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Income Taxes - Components of Income Tax Expense (Benefit), Continuing Operations (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Current income taxes:      
U.S. federal $ 7.3 $ 8.1 $ (9.2)
U.S. state 1.5 0.8 0.8
Foreign 14.8 9.7 11.6
Current income taxes 23.6 18.6 3.2
Deferred income taxes:      
U.S. federal (5.3) 2.3 3.6
U.S. state 1.0 (1.9) 1.4
Foreign (0.9) (3.8) 2.5
Deferred income taxes (5.2) (3.4) 7.5
Provision for income taxes $ 18.4 $ 15.2 $ 10.7