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Debt and Credit Agreements Schedule of Maturities of Long-term Debt (Tables)
 12 Months Ended
Dec. 31, 2020
Long-term Debt, Fiscal Year Maturity [Abstract]  
Schedule of Maturities of Long-term Debt [Table Text Block]
Annual maturities are scheduled as follows based on the book value as of December 31, 2020.
2021$502.5 
2022250.2 
2023498.9 
2024498.3 
20250.0 
Thereafter1,668.4 
Total long-term debt$3,418.3