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Summary of Significant Accounting Policies, Revenue Recognition (Details) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 USD ($) item | Dec. 31, 2019 USD ($) | Dec. 31, 2018 | Dec. 31, 2017 USD ($)
Revenue recognition |  |  |  |
Remaining performance obligation, expected timing for substantial portion of performance obligations | 3 months |  |  |
Practical expedient, performance obligation | true |  |  |
Practical expedient, incremental cost of obtaining contract | true |  |  |
Retained earnings | $ 3,705.4 | $ 3,348.4 |  |
Minimum |  |  |  |
Revenue recognition |  |  |  |
Payment terms | 30 days |  |  |
Number of reporting periods that may be extended across for multiple delivery dates | item | 1 |  |  |
Maximum |  |  |  |
Revenue recognition |  |  |  |
Payment terms | 120 days |  |  |
Percentage of net sales recognized over time | 5.00% | 5.00% | 5.00% |
Remaining performance obligation, expected timing for nearly all performance obligations | 1 year |  |  |
Impact of ASU 2014-09 adoption - Increase (decrease) to beginning retained earnings | Impact of ASU 2014-09 |  |  |  |
Revenue recognition |  |  |  |
Retained earnings |  |  |  | $ 3.2

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