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Discontinued Operations - Loss, Assets and Liabilities of Discontinued Operations (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]          
Loss from discontinued operations, net of income taxes $ (2.3) $ (2.3) $ (4.3) $ (4.5)  
Discontinued Operations, Held-for-sale or Disposed of by Sale          
Liabilities:          
Accounts payable and accrued expenses 63.2   63.2   $ 62.3
Other noncurrent liabilities 84.7   84.7   91.4
Total liabilities classified as discontinued operations $ 147.9   $ 147.9   $ 153.7