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Stock Based Compensation - Restricted Stock Units (Details) - Long-Term Equity Incentive Plan - Restricted Stock Units - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense $ 7.3 $ 7.4 $ 13.6 $ 14.4
Income tax benefit (1.3) (1.4) (2.4) (2.7)
Compensation expense, net of tax $ 6.0 $ 6.0 $ 11.2 $ 11.7
RSUs granted (in shares) 33,538 31,554 261,950 225,396
Weighted average grant date fair value per unit (in dollars per share) $ 100.62 $ 96.18 $ 90.99 $ 97.56
Total fair value of vested RSUs $ 15.5 $ 5.0 $ 24.4 $ 26.8
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized [Abstract]        
Unrecognized compensation cost $ 29.8   $ 29.8  
Unrecognized compensation cost expected to be recognized over a weighted-average period (in years)     1 year 3 months 18 days