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Equity Method Investees (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Significant Equity Method Investees        
Equity Method Investments $ 1,500.3 $ 1,399.0    
Equity in earnings of affiliates 169.0 147.5 $ 134.8  
Condensed income statement information        
Gross profit 3,184.5 3,455.5 3,414.9  
Income from continuing operations 544.9 434.8 469.8  
Net income 545.3 435.1 470.3  
Condensed balance sheet information        
Current assets 4,408.8 5,334.1    
Total assets 13,247.2 13,942.7    
Current liabilities 4,674.9 5,451.0    
Adoption of ASC 3,326.1 2,811.6 2,634.7 $ 2,428.0
Total liabilities and equity 13,247.2 13,942.7    
PTL        
Significant Equity Method Investees        
Equity Method Investments $ 1,419.2 1,323.2    
The Nix Group        
Significant Equity Method Investees        
Ownership percentage of equity method investment 50.00%      
Barcelona Premium SL        
Significant Equity Method Investees        
Ownership percentage of equity method investment 50.00%      
Nicole Group        
Significant Equity Method Investees        
Ownership percentage of equity method investment 49.00%      
Penske Commercial Leasing Australia        
Significant Equity Method Investees        
Ownership percentage of equity method investment 28.00%      
Dealerships in Edison, New Jersey        
Significant Equity Method Investees        
Ownership interest sold (as a percent) 20.00%      
PTL        
Significant Equity Method Investees        
Ownership interest in Penske Truck Leasing Co (as a percent) 28.90%      
Equity method investees        
Condensed income statement information        
Total revenues $ 9,613.8 9,682.2 9,013.7  
Gross profit 2,101.5 2,007.0 2,011.7  
Net income 584.3 509.8 $ 458.7  
Condensed balance sheet information        
Current assets 1,456.4 1,481.9    
Noncurrent assets 14,458.5 14,767.3    
Total assets 15,914.9 16,249.2    
Current liabilities 1,333.1 1,281.8    
Noncurrent liabilities 10,952.6 11,679.1    
Adoption of ASC 3,629.2 3,288.3    
Total liabilities and equity $ 15,914.9 $ 16,249.2    
German Automotive Dealership Group        
Significant Equity Method Investees        
Ownership interest (as a percent) 8.20%