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Environmental and Legal Contingencies (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Commitments and Contingencies Disclosure [Abstract]      
Environmental-related capital investments $ 23.0 $ 7.1 $ 6.8
Environmental compliance costs $ 141.3 $ 126.3 $ 129.5