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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Accounts receivable, allowances $ 25.9 $ 22.4
Authorized (in shares) 3,200,000 3,200,000
Issued (in shares) 957,077 958,056