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Income Taxes - Schedule of Income before Income Tax, Domestic and Foreign (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Disclosure [Abstract]      
Domestic $ 223.4 $ 194.8 $ 41.8
Foreign 106.6 72.7 147.8
Income before income taxes $ 330.0 $ 267.5 $ 189.6