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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Changes in Unrecognized Tax Benefits      
Beginning balance, Unrecognized tax benefits $ 61.6 $ 42.1 $ 194.1
Additions based on tax positions related to the current year 1.3 0.1 0.8
Additions for tax positions of prior years 17.4 23.1 43.7
Reductions for tax positions related to the current year (3.2) (3.2) (10.6)
Reductions for tax positions of prior years   (0.5) (23.2)
Settlements (14.5)   (162.7)
Expired statute of limitations (15.7)    
Ending balance, Unrecognized tax benefits 46.9 61.6 42.1
Amount of unrecognized tax benefits that would reduce the effective income tax rate, if recognized 1.1    
Accumulated pre-tax interest and penalties related to unrecognized tax benefits $ 1.1 $ 0.9 $ 1.6