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Debt and Credit Arrangements - Summary of Outstanding Borrowings (Details) - USD ($)
Sep. 30, 2020
Dec. 31, 2019
Jun. 14, 2019
Nov. 06, 2017
Debt Instrument        
Total debt, net of unamortized discount and debt issuance costs $ 706,700,000 $ 777,300,000    
Less: current maturities 11,300,000 16,300,000    
Long-term debt 695,400,000 761,000,000.0    
Convertible Notes, due 2024 | Convertible Debt        
Debt Instrument        
Unamortized debt issuance costs (3,300,000) (3,800,000)    
Principal amount 258,800,000 258,800,000   $ 258,800,000
Unamortized discount (36,800,000) (42,800,000)    
Convertible Debt 218,700,000 $ 212,200,000    
Debt instrument stated interest rate (percent)       1.00%
Revolving Credit Facility        
Debt Instrument        
Weighted average interest rate (percent)   4.80%    
Revolving Credit Facility | Credit Facilities 2019        
Debt Instrument        
Unamortized debt issuance costs (5,400,000) $ (5,500,000)    
Senior secured revolving credit facility and term loan, net of debt issuance costs 487,800,000 560,700,000    
Revolving Credit Facility | Term loan        
Debt Instrument        
Long term debt $ 438,800,000 447,200,000    
Principal amount     $ 450,000,000.0  
Debt instrument stated interest rate (percent) 3.10%      
Debt instrument percentage of principal due annually, through year two (percent) 2.50%      
Debt instrument percentage of principal due annually, year three (percent) 5.00%      
Debt instrument percentage of principal due annually, year four (percent) 7.50%      
Debt instrument percentage of principal due annually, year three (percent) 10.00%      
Revolving Credit Facility | Senior secured revolving credit facility        
Debt Instrument        
Long term debt $ 54,400,000 119,000,000.0    
Unamortized debt issuance costs $ (8,400,000)      
Maximum borrowing capacity     550,000,000.0  
Weighted average interest rate (percent) 2.10%      
Letters of credit outstanding $ 65,500,000      
Line of credit remaining borrowing amount 430,100,000      
Revolving Credit Facility | Foreign facilities        
Debt Instrument        
Foreign facilities 200,000 4,400,000    
Maximum borrowing capacity 80,900,000      
Letters of credit outstanding $ 44,000,000.0 $ 12,600,000    
Revolving Credit Facility Sub-limit - Letters of Credit | Senior secured revolving credit facility        
Debt Instrument        
Maximum borrowing capacity     100,000,000.0  
Revolving Credit Facility Sub-limit - Discretionary Letters of Credit | Senior secured revolving credit facility        
Debt Instrument        
Maximum borrowing capacity     250,000,000.0  
Revolving Credit Facility Sub-limit - Swingline | Senior secured revolving credit facility        
Debt Instrument        
Maximum borrowing capacity     $ 50,000,000.0