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Debt - Summary of Long-term Debt (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Feb. 28, 2018
Feb. 02, 2018
Aug. 31, 2017
Mar. 31, 2016
Nov. 30, 2010
Debt Instrument [Line Items]              
Long-term debt $ 1,436.9 $ 1,506.0          
Notes 2022 Term | Senior Notes              
Debt Instrument [Line Items]              
Long-term debt $ 299.2 298.8          
Senior notes, stated percentage 3.625%           3.625%
Notes 2026 Term | Senior Notes              
Debt Instrument [Line Items]              
Long-term debt $ 396.5 395.7          
Senior notes, stated percentage 3.35%         3.35%  
Notes 2027 Term | Senior Notes              
Debt Instrument [Line Items]              
Long-term debt $ 296.4 295.9          
Senior notes, stated percentage 3.15%       3.15%    
Notes 2028 Term | Senior Notes              
Debt Instrument [Line Items]              
Long-term debt $ 444.8 444.0          
Senior notes, stated percentage 3.50%   3.50% 3.50%      
Notes 2023 Term | Term Loan              
Debt Instrument [Line Items]              
Long-term debt $ 0.0 71.6          
Term loan, current portion 0.0 34.4          
Credit Agreement | Line of Credit | Revolving Credit Facility              
Debt Instrument [Line Items]              
Long-term debt $ 0.0 $ 0.0