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Discontinued Operations - Loss, Assets and Liabilities of Discontinued Operations (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]          
Income (loss) from discontinued operations, net of income taxes $ 24.3 $ (2.3) $ 20.0 $ (6.8)  
Discontinued Operations, Held-for-sale or Disposed of by Sale          
Liabilities:          
Accounts payable and accrued expenses 43.8   43.8   $ 62.3
Other noncurrent liabilities 66.0   66.0   91.4
Total liabilities classified as discontinued operations $ 109.8   $ 109.8   $ 153.7