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Debt - Long-term Debt (Details) - USD ($)
$ in Millions
Sep. 30, 2020
Dec. 31, 2019
Debt Instrument [Line Items]    
Long-term debt, gross $ 256.4 $ 258.0
Less: unamortized debt issuance costs 0.7 0.7
Total debt 255.7 257.3
Less: current portion of long-term debt 2.3 2.3
Long-term debt, net $ 253.4 255.0
Term Loan, due December 31, 2024 (1.10%)    
Debt Instrument [Line Items]    
Debt instrument, stated interest rate 1.10%  
Long-term debt, gross $ 88.4 90.0
Long-term debt, net $ 86.1  
Series A notes, due July 5, 2022 (3.67%)    
Debt Instrument [Line Items]    
Debt instrument, stated interest rate 3.67%  
Long-term debt, gross $ 42.0 42.0
Series B notes, due July 5, 2024 (3.82%)    
Debt Instrument [Line Items]    
Debt instrument, stated interest rate 3.82%  
Long-term debt, gross $ 53.0 53.0
Series C notes, due July 5, 2027 (4.02%)    
Debt Instrument [Line Items]    
Debt instrument, stated interest rate 4.02%  
Long-term debt, gross $ 73.0 $ 73.0