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Consolidated Balance Sheets (Parenthetical) - USD ($)
shares in Thousands, $ in Millions
Dec. 31, 2019
Dec. 31, 2018
Statement of Financial Position [Abstract]    
Accounts receivable, allowances $ 22.4 $ 24.1
Issued (in shares) 958,056 1,057,639
Authorized (in shares) 3,200,000 3,200,000