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Employee Benefit Plans - Net Periodic Expense (Income) and Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
United States      
Defined Benefit Plan, Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets      
Projected benefit obligation $ 357.9 $ 341.2  
Accumulated benefit obligation 357.9 341.2  
Fair value of plan assets 270.4 254.3  
Accumulated benefit obligation 364.7 348.2  
Defined Benefit Plan, Net Periodic Benefit Cost      
Service cost 0.0 0.0 $ 0.0
Interest cost 10.8 13.3 12.3
Expected return on plan assets (9.5) (9.8) (10.3)
Amortization of unrecognized prior service credits (0.1) (0.1) (0.2)
Recognized net actuarial losses 4.7 6.5 (0.2)
Total net periodic pension benefit expense $ 5.9 $ 9.9 $ 1.6
Weighted-average actuarial assumptions used in determining net periodic pension expense:      
Discount rate used in determining net periodic postretirement benefit expense 3.16% 4.29% 3.57%
Expected long-term rate of return on assets (as a percent) 3.75% 4.25% 4.00%
Weighted-average actuarial assumptions used in determining year-end benefit obligations:      
Discount rate used in determining year-end postretirement benefit obligation 2.35% 3.16% 4.29%
Foreign Plan      
Defined Benefit Plan, Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets      
Projected benefit obligation $ 50.9 $ 47.8  
Accumulated benefit obligation 50.9 47.8  
Fair value of plan assets 48.4 44.7  
Accumulated benefit obligation 192.2 175.0  
Defined Benefit Plan, Net Periodic Benefit Cost      
Service cost 0.0 0.0 $ 0.0
Interest cost 3.8 4.8 4.7
Expected return on plan assets (5.7) (6.7) (7.5)
Recognized net actuarial losses 0.2 1.0 9.1
Total net periodic pension benefit expense $ (1.7) $ (0.9) $ 6.3
Weighted-average actuarial assumptions used in determining net periodic pension expense:      
Discount rate used in determining net periodic postretirement benefit expense 2.27% 3.02% 2.76%
Expected long-term rate of return on assets (as a percent) 3.81% 4.69% 4.50%
Weighted-average actuarial assumptions used in determining year-end benefit obligations:      
Discount rate used in determining year-end postretirement benefit obligation 1.76% 2.27% 3.02%