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Condensed Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Statement of Stockholders' Equity [Abstract]        
Derivative financial instruments, tax expense (benefit) $ 2.3 $ 5.3 $ 9.3 $ 8.1
Foreign currency translation adjustment tax expense (benefit)     $ (4.7)  
Accounting Standards Update [Extensible List]       us-gaap:AccountingStandardsUpdate201802Member