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Leases - ROU Asset and Lease Liability (Details) - USD ($)
$ in Millions
Sep. 30, 2021
Dec. 31, 2020
Assets    
Operating lease ROU assets $ 140.3 $ 147.3
Operating Lease, Right-of-Use Asset, Statement of Financial Position Other assets including long-term receivables, net Other assets including long-term receivables, net
Liabilities    
Operating lease current liabilities $ 23.8 $ 25.6
Operating lease noncurrent liabilities $ 144.5 $ 151.1
Operating Lease, Liability, Current, Statement of Financial Position Accrued and other liabilities Accrued and other liabilities
Operating Lease, Liability, Noncurrent, Statement of Financial Position Other long-term liabilities Other long-term liabilities