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Restructuring and Acquisition-Related Costs - Restructuring Reserve Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | $ 58.4 | $ 39.8 | $ 44.2
Minimum [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring and related cost, expected cost remaining | 50.0 |  |
Maximum [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring and related cost, expected cost remaining | 65.0 |  |
Driveline [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 19.3 | 6.4 | 3.4
Metal Forming [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 16.0 | 21.5 | 37.6
Casting [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges |  | 0.7 | 0.1
Employee Severance [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 22.3 | 19.4 | 2.5
Other Restructuring [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 36.1 | 20.4 | 11.7
2020 Restructuring Plan [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 47.8 |  |
Asset Impairment [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | $ 0.0 | $ 0.0 | $ 30.0

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