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Goodwill and Other Intangible Assets Estimated future amortization of other intangible assets (Tables)
12 Months Ended
Dec. 31, 2019
Summary of Other Intangible Assets [Abstract]  
Schedule of Finite-Lived Intangible Assets, Future Amortization Expense [Table Text Block]

The estimated annual amortization expense for other intangible assets for the next five years as of December 31, 2019 is listed below.
 
 
2020
 
2021
 
2022
 
2023
 
2024
Estimated amortization expense
 
$
88.4

 
$
86.9

 
$
82.9

 
$
78.6

 
$
76.8