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Benefit Plans and Other Postretirement Benefits, Benefit obligation and plan assets (Details) - USD ($)
$ in Millions
 1 Months Ended 12 Months Ended
Jan. 31, 2018
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Amounts recognized in the balance sheet as of December 31:        
Accrued pension and postretirement benefit obligations   $ 228.6 $ 198.8  
Accumulated other comprehensive loss, net   $ (278.1) $ (430.9)  
United States        
Weighted average assumptions used to determine projected benefit obligations:        
Rate of compensation increase (as a percent)   2.40% 2.60%  
Foreign Plans        
Weighted average assumptions used to determine projected benefit obligations:        
Rate of compensation increase (as a percent)   1.75% 1.78%  
Pension Benefits        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year   $ 757.9 $ 684.2  
Service cost   7.5 8.0 $ 7.3
Interest cost   16.7 21.5 19.6
Plan amendments   0.1 4.8  
Actuarial (gain) loss   62.6 71.9  
Foreign exchange translation   17.9 1.6  
Benefits paid   (34.3) (34.1)  
Projected benefit obligation at end of year   828.4 757.9 684.2
Change in plan assets:        
Fair value of plan assets at the beginning of the year   581.0 514.1  
Actual return on plan assets   74.1 91.9  
Employer contributions   6.5 6.6 88.3
Foreign exchange translation   5.0 2.5  
Benefits paid   (34.3) (34.1)  
Fair value of plan assets at end of year   632.3 581.0 514.1
Underfunded status at end of year   196.1 176.9  
Amounts recognized in the balance sheet as of December 31:        
Other long-term assets   8.1 0.0  
Other accrued expenses   4.3 4.2  
Accrued pension and postretirement benefit obligations   199.9 172.7  
Accumulated other comprehensive loss, net   (192.5) (193.5)  
Accumulated benefit obligation        
Accumulated benefit obligation   818.4 748.4  
Pension Benefits | United States        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year   496.5 448.9  
Service cost   4.5 5.4 4.5
Interest cost   13.2 16.8 14.9
Plan amendments   0.0 4.8  
Actuarial (gain) loss   38.5 47.1  
Foreign exchange translation   0.0 0.0  
Benefits paid   (26.3) (26.5)  
Projected benefit obligation at end of year   526.4 496.5 448.9
Change in plan assets:        
Fair value of plan assets at the beginning of the year   473.2 418.2  
Actual return on plan assets   67.8 80.5  
Employer contributions $ 81.0 1.0 1.0  
Foreign exchange translation   0.0 0.0  
Benefits paid   (26.3) (26.5)  
Fair value of plan assets at end of year   515.7 473.2 418.2
Underfunded status at end of year   10.7 23.3  
Amounts recognized in the balance sheet as of December 31:        
Other long-term assets   7.8 0.0  
Other accrued expenses   1.0 1.0  
Accrued pension and postretirement benefit obligations   17.5 22.3  
Accumulated other comprehensive loss, net   $ (118.2) $ (131.5)  
Weighted average assumptions used to determine projected benefit obligations:        
Benefit obligation discount rate (as a percent)   2.30% 3.11%  
Increase (decrease) in benefit obligation due to change in discount rate   $ 45.0    
Accumulated benefit obligation        
Accumulated benefit obligation   525.1 $ 495.0  
Pension Benefits | Foreign Plans        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year   261.4 235.3  
Service cost   3.0 2.6 2.8
Interest cost   3.5 4.7 4.7
Plan amendments   0.1 0.0  
Actuarial (gain) loss   24.1 24.8  
Foreign exchange translation   17.9 1.6  
Benefits paid   (8.0) (7.6)  
Projected benefit obligation at end of year   302.0 261.4 235.3
Change in plan assets:        
Fair value of plan assets at the beginning of the year   107.8 95.9  
Actual return on plan assets   6.3 11.4  
Employer contributions   5.5 5.6  
Foreign exchange translation   5.0 2.5  
Benefits paid   (8.0) (7.6)  
Fair value of plan assets at end of year   116.6 107.8 $ 95.9
Underfunded status at end of year   185.4 153.6  
Amounts recognized in the balance sheet as of December 31:        
Other long-term assets   0.3 0.0  
Other accrued expenses   3.3 3.2  
Accrued pension and postretirement benefit obligations   182.4 150.4  
Accumulated other comprehensive loss, net   $ (74.3) $ (62.0)  
Weighted average assumptions used to determine projected benefit obligations:        
Benefit obligation discount rate (as a percent)   1.12% 1.59%  
Accumulated benefit obligation        
Accumulated benefit obligation   $ 293.3 $ 253.4  
Largest foreign pension plan | Pension Benefits | Unfunded Plan | Foreign Plans        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year   103.6    
Projected benefit obligation at end of year   $ 120.8 $ 103.6