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Leases (Tables)
 12 Months Ended
Dec. 31, 2020
Leases [Abstract]  
Leases of Lessee Disclosure [Text Block]
8. Leases

The Company has leases for manufacturing, sales, support, and engineering facilities, certain manufacturing and office equipment, and vehicles. The majority of the leases have remaining terms of 1 to 7 years, some of which include options to extend the leases for up to 6 years, and some of which include options to terminate the leases within 1 year. The lease agreements do not contain any material residual value guarantees or material restrictive covenants. The Company subleases certain facilities to third parties.

The following table details the components of lease cost:
(in millions)Years Ended December 31,
20202019
Operating lease cost (1)
$9.9 $9.8 
Finance lease cost:
Amortization of right-of-use assets2.1 2.2 
Interest on lease liabilities0.5 0.2 
Sublease income(3.0)(2.9)
Total lease cost$9.5 $9.3 
(1) Includes short-term and variable lease costs, which were immaterial.

The components of lease cost other than Interest on lease liabilities are presented within the Cost of goods sold, Research and development expenses, and Selling and administrative expenses lines on the Consolidated Statements of Earnings based on the use of the underlying assets. Interest on lease liabilities is presented within the Interest expense, net line on the Consolidated Statements of Earnings.

The following table presents supplemental balance sheet information related to finance leases:
(in millions)Balance Sheet LineDecember 31, 2020December 31, 2019
Finance lease right-of-use assetsProperty, plant, and equipment, net$10.2 $11.7 
Current finance lease liabilitiesOther accrued expenses$2.6 $2.4 
Long-term finance lease liabilitiesOther liabilities5.5 6.9 
Total finance lease liabilities$8.1 $9.3 

The following table presents supplemental cash flow information related to leases:
(in millions)Years Ended December 31,
20202019
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases$9.6 $10.4 
Operating cash flows from finance leases0.5 0.6 
Financing cash flows from finance leases2.0 1.7 
Right-of-use assets obtained in exchange for lease obligations:
Operating leases$2.2 $2.6 
Finance leases0.1 0.3 
The following table details weighted-average remaining lease terms and discount rates:
December 31, 2020December 31, 2019
Weighted-average remaining lease term (in years):
Operating leases3.74.3
Finance leases4.15.1
Weighted-average discount rate:
Operating leases4.2 %4.3 %
Finance leases5.5 %5.6 %

The following table details maturities of lease liabilities as of December 31, 2020:
(in millions)Operating LeasesFinance Leases
2021$11.2 $2.6 
20228.5 2.5 
20236.8 2.5 
20242.4 1.4 
20251.1 — 
2026 and thereafter0.9 — 
Total lease payments30.9 9.0 
Less interest(2.0)(0.9)
Present value of lease liabilities$28.9 $8.1 

Year Ended December 31, 2018

Total rental expense for all operating leases was $7.3 million for the year ended December 31, 2018, net of sublease income of $2.3 million. Contingent rentals under the operating leases were not significant.
Lease, Cost [Table Text Block]
The following table details the components of lease cost:
(in millions)Years Ended December 31,
20202019
Operating lease cost (1)
$9.9 $9.8 
Finance lease cost:
Amortization of right-of-use assets2.1 2.2 
Interest on lease liabilities0.5 0.2 
Sublease income(3.0)(2.9)
Total lease cost$9.5 $9.3 
(1) Includes short-term and variable lease costs, which were immaterial.
Schedule of Lease Assets and Liabilities [Table Text Block]
The following table presents supplemental balance sheet information related to finance leases:
(in millions)Balance Sheet LineDecember 31, 2020December 31, 2019
Finance lease right-of-use assetsProperty, plant, and equipment, net$10.2 $11.7 
Current finance lease liabilitiesOther accrued expenses$2.6 $2.4 
Long-term finance lease liabilitiesOther liabilities5.5 6.9 
Total finance lease liabilities$8.1 $9.3 
Schedule of Lease Payments [Table Text Block]
The following table presents supplemental cash flow information related to leases:
(in millions)Years Ended December 31,
20202019
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases$9.6 $10.4 
Operating cash flows from finance leases0.5 0.6 
Financing cash flows from finance leases2.0 1.7 
Right-of-use assets obtained in exchange for lease obligations:
Operating leases$2.2 $2.6 
Finance leases0.1 0.3 
Finance Lease, Liability, Maturity [Table Text Block]
The following table details weighted-average remaining lease terms and discount rates:
December 31, 2020December 31, 2019
Weighted-average remaining lease term (in years):
Operating leases3.74.3
Finance leases4.15.1
Weighted-average discount rate:
Operating leases4.2 %4.3 %
Finance leases5.5 %5.6 %
Schedule of Maturities of Lease liabilities [Table Text Block]
The following table details maturities of lease liabilities as of December 31, 2020:
(in millions)Operating LeasesFinance Leases
2021$11.2 $2.6 
20228.5 2.5 
20236.8 2.5 
20242.4 1.4 
20251.1 — 
2026 and thereafter0.9 — 
Total lease payments30.9 9.0 
Less interest(2.0)(0.9)
Present value of lease liabilities$28.9 $8.1