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Schedule II - Consolidated Valuation and Qualifying Accounts (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Allowance for doubtful accounts and sales allowances      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year $ 20.3 $ 23.1 $ 12.7
Additions charged to costs and expenses 11.7 8.4 11.9
Deductions (10.2) (7.9) (7.3)
Other 7.3 (3.3) 5.8
Balance at end of year 29.1 20.3 23.1
Reserve for inventory obsolescence      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 33.4 30.3 38.1
Additions charged to costs and expenses 9.6 6.3 6.7
Deductions (3.9) (3.2) (4.5)
Other 1.3 0.0 (10.0)
Balance at end of year $ 40.4 $ 33.4 $ 30.3