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Income Taxes (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Income Tax Disclosure [Abstract]    
Effective income tax rate on continuing operations (as a percent) 18.80% 21.10%
Anticipated effective tax rate for beginning of year to date (as a percent) 24.40%  
Discrete income tax expense (benefit) $ 9.8