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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 22, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Income Taxes [Line Items]          
Provisional tax expense (benefit) $ 31.8     $ (449.9)  
Executive compensation deduction     $ 1.8    
Expense for mandatory repatriation tax 1.5   $ 1.5 $ 207.1  
Effective income tax rate (benefit) (as a percent)   22.70% 16.60% (48.50%)  
Balance of unrecognized tax benefit   $ 130.0 $ 112.2 $ 114.8 $ 136.7
Unrecognized tax position, that would affect the annual effective tax rate   97.2      
Unrecognized Tax Benefits that would impact Deferred Taxes   32.8      
Estimate of decrease in unrecognized tax positions   1.5      
Interest and penalties tax benefit     0.8    
Interest and penalties tax expense       1.5  
Accrued interest and penalties   5.1 5.1 $ 5.9  
Federal          
Income Taxes [Line Items]          
Net operating loss carryforwards   521.9 768.9    
Tax credit carryforwards   134.5 83.7    
State          
Income Taxes [Line Items]          
Net operating loss carryforwards   825.8 801.0    
Tax credit carryforwards   138.6 115.8    
Foreign          
Income Taxes [Line Items]          
Executive compensation deduction $ 1.8        
Net operating loss carryforwards   757.1 734.4    
Tax credit carryforwards   76.8 $ 68.8    
National Tax Agency, Japan          
Income Taxes [Line Items]          
Valuation allowance   $ 186.3