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Employee Benefit Plans - Defined Benefit Pension Plans (Details)
$ in Millions
12 Months Ended
Dec. 31, 2019
USD ($)
$ / item
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Employee benefit plans      
Fair value of plan assets $ 441.7 $ 397.2  
Fixed income common trust funds      
Employee benefit plans      
Fair value of plan assets 255.6 228.5  
Commingled global fund allocations      
Employee benefit plans      
Fair value of plan assets 110.3 83.3  
Global equity common trust funds      
Employee benefit plans      
Fair value of plan assets 30.1 41.1  
U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 24.5 24.0  
Short-term investments      
Employee benefit plans      
Fair value of plan assets $ 7.1 7.8  
Value of short-term investments (in dollars per unit) | $ / item 1.00    
Non-U.S. Government securities      
Employee benefit plans      
Fair value of plan assets $ 13.2 11.5  
Other      
Employee benefit plans      
Fair value of plan assets 0.9 1.0  
Quoted Prices in Active Markets for Identical Assets (Level 1)      
Employee benefit plans      
Fair value of plan assets 7.1 7.8  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Fixed income common trust funds      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Commingled global fund allocations      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Global equity common trust funds      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Short-term investments      
Employee benefit plans      
Fair value of plan assets 7.1 7.8  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Non-U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Other      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2)      
Employee benefit plans      
Fair value of plan assets 433.7 388.4  
Significant Observable Inputs (Level 2) | Fixed income common trust funds      
Employee benefit plans      
Fair value of plan assets 255.6 228.5  
Significant Observable Inputs (Level 2) | Commingled global fund allocations      
Employee benefit plans      
Fair value of plan assets 110.3 83.3  
Significant Observable Inputs (Level 2) | Global equity common trust funds      
Employee benefit plans      
Fair value of plan assets 30.1 41.1  
Significant Observable Inputs (Level 2) | U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 24.5 24.0  
Significant Observable Inputs (Level 2) | Short-term investments      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | Non-U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 13.2 11.5  
Significant Observable Inputs (Level 2) | Other      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3)      
Employee benefit plans      
Fair value of plan assets 0.9 1.0  
Significant Unobservable Inputs (Level 3) | Fixed income common trust funds      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Commingled global fund allocations      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Global equity common trust funds      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Short-term investments      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Non-U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Other      
Employee benefit plans      
Fair value of plan assets $ 0.9 $ 1.0  
United States      
Employee benefit plans      
Actual Allocations 100.00% 100.00%  
Mid-point of Target Allocation Range 100.00%    
Fair value of plan assets $ 263.6 $ 238.0 $ 269.7
Actual return on plan assets $ 35.7 $ (14.8)  
United States | Fixed income common trust funds      
Employee benefit plans      
Actual Allocations 67.00% 70.00%  
Mid-point of Target Allocation Range 65.00%    
United States | Commingled global fund allocations      
Employee benefit plans      
Actual Allocations 17.00% 11.00%  
Mid-point of Target Allocation Range 18.00%    
United States | Non-U.S. Government securities      
Employee benefit plans      
Actual Allocations 0.00% 1.00%  
Mid-point of Target Allocation Range 0.00%    
United States | Global equity common trust funds      
Employee benefit plans      
Actual Allocations 5.00% 6.00%  
Mid-point of Target Allocation Range 5.00%    
United States | U.S. Government securities      
Employee benefit plans      
Actual Allocations 9.00% 10.00%  
Mid-point of Target Allocation Range 10.00%    
United States | Short-term investments      
Employee benefit plans      
Actual Allocations 2.00% 2.00%  
Mid-point of Target Allocation Range 2.00%    
Foreign Plan      
Employee benefit plans      
Actual Allocations 100.00% 100.00%  
Mid-point of Target Allocation Range 100.00%    
Fair value of plan assets $ 178.1 $ 159.2 $ 183.4
Actual return on plan assets $ 19.4 $ (8.7)  
Foreign Plan | Fixed income common trust funds      
Employee benefit plans      
Actual Allocations 45.00% 39.00%  
Mid-point of Target Allocation Range 39.00%    
Foreign Plan | Commingled global fund allocations      
Employee benefit plans      
Actual Allocations 37.00% 36.00%  
Mid-point of Target Allocation Range 37.00%    
Foreign Plan | Global equity common trust funds      
Employee benefit plans      
Actual Allocations 10.00% 17.00%  
Mid-point of Target Allocation Range 13.00%    
Foreign Plan | Short-term investments      
Employee benefit plans      
Actual Allocations 1.00% 1.00%  
Mid-point of Target Allocation Range 4.00%    
Foreign Plan | Non-U.S. Government securities      
Employee benefit plans      
Actual Allocations 7.00% 7.00%  
Mid-point of Target Allocation Range 7.00%