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Employee Benefit Plans - Defined Benefit Pension Plans (Details)
$ in Millions
12 Months Ended
Dec. 31, 2020
USD ($)
$ / item
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Employee benefit plans      
Fair value of plan assets $ 478.1 $ 441.7  
Fixed income common trust funds      
Employee benefit plans      
Fair value of plan assets 315.4 255.6  
Commingled global fund allocation      
Employee benefit plans      
Fair value of plan assets 81.7 110.3  
Global equity common trust funds      
Employee benefit plans      
Fair value of plan assets 32.1 30.1  
U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 25.2 24.5  
Non-U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 0.3 13.2  
Short-term investments      
Employee benefit plans      
Fair value of plan assets $ 22.5 7.1  
Value of short-term investments (in dollars per unit) | $ / item 1.00    
Other      
Employee benefit plans      
Fair value of plan assets $ 0.9 0.9  
Quoted Prices in Active Markets for Identical Assets (Level 1)      
Employee benefit plans      
Fair value of plan assets 22.5 7.1  
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 allocation      
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) | 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) | Short-term investments      
Employee benefit plans      
Fair value of plan assets 22.5 7.1  
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 454.7 433.7  
Significant Observable Inputs (Level 2) | Fixed income common trust funds      
Employee benefit plans      
Fair value of plan assets 315.4 255.6  
Significant Observable Inputs (Level 2) | Commingled global fund allocation      
Employee benefit plans      
Fair value of plan assets 81.7 110.3  
Significant Observable Inputs (Level 2) | Global equity common trust funds      
Employee benefit plans      
Fair value of plan assets 32.1 30.1  
Significant Observable Inputs (Level 2) | U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 25.2 24.5  
Significant Observable Inputs (Level 2) | Non-U.S. Government securities      
Employee benefit plans      
Fair value of plan assets 0.3 13.2  
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) | 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 0.9  
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 allocation      
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) | Non-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) | Other      
Employee benefit plans      
Fair value of plan assets $ 0.9 $ 0.9  
United States      
Employee benefit plans      
Actual Allocations 100.00% 100.00%  
Mid-point of Target Allocation Range 100.00%    
Fair value of plan assets $ 279.8 $ 263.6 $ 238.0
Actual return on plan assets $ 35.1 $ 35.7  
United States | Fixed income common trust funds      
Employee benefit plans      
Actual Allocations 68.00% 67.00%  
Mid-point of Target Allocation Range 65.00%    
United States | Commingled global fund allocation      
Employee benefit plans      
Actual Allocations 11.00% 17.00%  
Mid-point of Target Allocation Range 18.00%    
United States | Global equity common trust funds      
Employee benefit plans      
Actual Allocations 5.00% 5.00%  
Mid-point of Target Allocation Range 5.00%    
United States | U.S. Government securities      
Employee benefit plans      
Actual Allocations 9.00% 9.00%  
Mid-point of Target Allocation Range 10.00%    
United States | Short-term investments      
Employee benefit plans      
Actual Allocations 7.00% 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 $ 198.3 $ 178.1 $ 159.2
Actual return on plan assets $ 19.9 $ 19.4  
Foreign Plan | Fixed income common trust funds      
Employee benefit plans      
Actual Allocations 65.00% 45.00%  
Mid-point of Target Allocation Range 66.00%    
Foreign Plan | Commingled global fund allocation      
Employee benefit plans      
Actual Allocations 25.00% 37.00%  
Mid-point of Target Allocation Range 25.00%    
Foreign Plan | Global equity common trust funds      
Employee benefit plans      
Actual Allocations 9.00% 10.00%  
Mid-point of Target Allocation Range 9.00%    
Foreign Plan | Non-U.S. Government securities      
Employee benefit plans      
Actual Allocations 0.00% 7.00%  
Mid-point of Target Allocation Range 0.00%    
Foreign Plan | Short-term investments      
Employee benefit plans      
Actual Allocations 1.00% 1.00%  
Mid-point of Target Allocation Range 0.00%