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Long-term debt - Future Debt Payments of Long-term Indebtedness (Details) - USD ($)
$ in Millions
Dec. 31, 2019
Dec. 31, 2018
Debt Disclosure [Abstract]    
2020 $ 14.1  
2021 35.9  
2022 33.7  
2023 735.8  
2024 and thereafter 3.0  
Total debt $ 822.5 $ 808.8