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Condensed Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Statement of Stockholders' Equity [Abstract]        
Accounting Standards Update [Extensible List]       us-gaap:AccountingStandardsUpdate201802Member
Foreign currency translation adjustment tax expense (benefit)   $ 0.2 $ (4.7) $ 0.2
Derivative financial instruments, tax expense (benefit) $ (0.8) $ 1.5 $ 8.5 $ 9.6