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Summary of Minimum Annual Rentals Including Reasonably Assured Renewal Options under Lease Agreements (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Jan. 01, 2019
Dec. 31, 2018
Operating Leases        
2021 $ 32.2      
2022 30.3      
2023 25.5      
2024 23.4      
2025 22.3      
2026 and thereafter 106.6      
Total future minimum lease commitments 240.3      
Less: Imputed Interest (47.0)      
Present value of lease liabilities $ 193.3 $ 160.4 $ 109.0 $ 57.0