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Accumulated Other Comprehensive Loss - Additional Information (Details) - USD ($)
$ in Millions
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Equity [Abstract]      
Cumulative income tax benefits related to adjustments for pension benefits $ (24.8) $ (33.5) $ (27.0)
Cumulative income tax expense (benefit) related to adjustments for unrealized loss on derivatives $ (3.6) $ (8.8) $ (4.3)