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Discontinued Operations - Loss, Assets and Liabilities of Discontinued Operations (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]          
Loss from discontinued operations, net of income taxes $ (2.3) $ (3.8) $ (6.8) $ (10.6)  
Discontinued Operations, Held-for-sale or Disposed of by Sale          
Liabilities:          
Accounts payable and accrued expenses 56.2   56.2   $ 58.8
Other noncurrent liabilities 92.4   92.4   105.5
Total liabilities classified as discontinued operations $ 148.6   $ 148.6   $ 164.3