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Leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Leases
Operating lease cost	$ 82.1	$ 84.4	$ 82.7
Operating lease cost from related parties	1.9	2.5	$ 4.1
Cash payments for operating leases	81.7	84.6
Right-of-use assets obtained in exchange for operating lease obligations	$ 58.8	$ 71.1
Weighted average remaining lease term - operating leases	5 years 8 months 12 days	5 years 7 months 6 days
Weighted average discount rate - operating leases	3.70%	4.30%
Maturities of operating lease liabilities
2021	$ 57.9
2022	46.8
2023	37.1
2024	29.6
2025	19.8
Thereafter	64.7
Total operating lease payments	255.9
Less: imputed interest	(50.8)
Total operating lease liabilities	$ 205.1

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Amount of single lease cost from related party, calculated by allocation of remaining cost of lease over remaining lease term. Includes, but is not limited to, single lease cost, after impairment of right-of-use asset, calculated by amortization of remaining right-of-use asset and accretion of lease liability.

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in next fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in fourth fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in third fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payments in excess of discounted obligation for lease payments for operating lease.

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Amount of single lease cost, calculated by allocation of remaining cost of lease over remaining lease term. Includes, but is not limited to, single lease cost, after impairment of right-of-use asset, calculated by amortization of remaining right-of-use asset and accretion of lease liability.

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Amount of cash outflow from operating lease, excluding payments to bring another asset to condition and location necessary for its intended use.

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