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Financial Instruments - Narrative (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Apr. 17, 2020 | Mar. 31, 2017
Foreign exchange contract |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Notional amount | $ 263,400,000 | $ 183,300,000 |  |  |
Realized and unrealized foreign currency transaction loss | 6,200,000 | 5,000,000.0 | $ 8,000,000.0 |  |
Interest Rate Swap |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Notional amount | $ 1,500,000,000 | $ 1,000,000,000.0 |  |  |
Interest rate swap agreement 1 |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Notional amount |  |  |  | $ 1,250,000,000 |
Interest rate swap agreement 2 |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Notional amount |  |  |  | 750,000,000.0 |
Interest rate swap agreement 3 |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Notional amount |  |  |  | $ 750,000,000.0 |
Convertible Debt | 1.00% Notes |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Debt instrument, interest rate | 1.00% |  |  |  |
Convertible Debt | 1.625% Notes |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Debt instrument, interest rate | 1.625% | 1.625% |  |  | 1.625%

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