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Income Taxes (as restated) - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended
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Dec. 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Income Tax Disclosure [Abstract] |  |  |  |  |  |  |  |  |  |  |
Taxes at U.S. statutory rate (21%) |  |  |  |  |  |  |  |  | $ (53.5) | $ (21.9) | $ (56.9)
State and local taxes, net of federal tax benefit |  |  |  |  |  |  |  |  | (4.9) | (4.0) | (6.0)
Non-U.S. rate differential |  |  |  |  |  |  |  |  | 4.6 | 4.3 | 4.2
Non-U.S. tax holidays |  |  |  |  |  |  |  |  | (9.2) | (4.6) | (1.8)
Uncertain tax positions |  |  |  |  |  |  |  |  | 16.4 | 16.0 | 21.5
Tax Cuts and Jobs Act of 2017 |  |  |  |  |  |  |  |  | 0.0 | 0.0 | (14.1)
Global intangible low-tax income inclusion |  |  |  |  |  |  |  |  | 15.4 | 13.8 | 4.2
Change in valuation allowances |  |  |  |  |  |  |  |  | 82.1 | 17.0 | 104.7
Taxes on undistributed foreign earnings and withholding/ dividend taxes |  |  |  |  |  |  |  |  | 9.8 | 8.5 | (2.3)
U.S. implications of non-U.S. earnings |  |  |  |  |  |  |  |  | (2.6) | (1.8) | 12.3
R&D deduction/ credit |  |  |  |  |  |  |  |  | (7.9) | (2.2) | (11.8)
Non-taxable settlement of contingent consideration |  |  |  |  |  |  |  |  | 0.0 | 0.0 | (3.2)
Change in fair value of warrant liabilities |  |  |  |  |  |  |  |  | 30.2 | 0.0 | 0.0
Other permanent differences |  |  |  |  |  |  |  |  | 4.9 | 6.7 | 10.5
Impact of rate changes in non-U.S. jurisdictions |  |  |  |  |  |  |  |  | (2.6) | 4.8 | (1.3)
Outside basis difference on divestiture |  |  |  |  |  |  |  |  | 0.0 | 0.0 | (6.6)
Impact of transaction costs |  |  |  |  |  |  |  |  | (4.8) | 0.0 | 0.0
Other |  |  |  |  |  |  |  |  | (5.2) | (0.1) | (3.5)
Income tax expense | $ 20.2 | $ 24.5 | $ 14.3 | $ 13.8 | $ 5.6 | $ (3.6) | $ 16.0 | $ 18.5 | $ 72.7 | $ 36.5 | $ 49.9

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