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Debt and Credit Arrangements - Summary of Outstanding Borrowings (Details) € in Millions	3 Months Ended
	Mar. 31, 2021 USD ($)	Mar. 31, 2020 USD ($)	Mar. 31, 2021 EUR (€)	Jan. 01, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2020 EUR (€)	Jun. 14, 2019 USD ($)	Nov. 06, 2017 USD ($)
Debt Instrument
Total debt, net of unamortized discount and debt issuance costs	$ 558,300,000				$ 442,500,000
Less: current maturities	255,200,000				220,900,000
Long-term debt	303,100,000				221,600,000
Foreign currency transaction gain	200,000	$ (300,000)
Convertible Notes, due 2024 | Convertible Debt
Debt Instrument
Unamortized debt issuance costs	(3,600,000)			$ (3,900,000)	(3,100,000)
Principal amount	258,800,000	$ 258,800,000			258,800,000			$ 258,800,000
Unamortized discount	0				(34,800,000)
Convertible Debt	255,200,000				220,900,000
Debt instrument stated interest rate (percent)								1.00%
Revolving Credit Facility | Credit Facilities 2019
Debt Instrument
Unamortized debt issuance costs	(4,700,000)				(5,000,000.0)
Senior secured revolving credit facility and term loan, net of debt issuance costs	303,100,000				221,600,000
Revolving Credit Facility | Term loan
Debt Instrument
Long term debt	$ 103,100,000				$ 103,100,000
Principal amount							$ 450,000,000.0
Debt instrument stated interest rate (percent)	2.00%		2.00%		2.50%	2.50%
Revolving Credit Facility | Senior secured revolving credit facility
Debt Instrument
Long term debt	$ 204,700,000				$ 123,500,000
Unamortized debt issuance costs	$ (7,300,000)
Maximum borrowing capacity							$ 550,000,000.0
Weighted average interest rate (percent)	1.80%		1.80%		2.10%	2.10%
Letters of credit outstanding	$ 53,100,000
Line of credit remaining borrowing amount	292,200,000
Revolving Credit Facility | Euro senior secured revolving credit facility
Debt Instrument
Long term debt	83,800,000		€ 71.5		$ 87,700,000	€ 71.5
Foreign currency transaction gain	3,900,000
Revolving Credit Facility | Foreign facilities
Debt Instrument
Foreign facilities	0				$ 0
Maximum borrowing capacity	80,900,000
Weighted average interest rate (percent)					1.30%	1.30%
Letters of credit outstanding	51,600,000				$ 47,700,000
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

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Including the current and noncurrent portions, carrying amount of debt identified as being convertible into another form of financial instrument (typically the entity's common stock) as of the balance sheet date, which originally required full repayment more than twelve months after issuance or greater than the normal operating cycle of the company.

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Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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Face (par) amount of debt instrument at time of issuance.

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Contractual interest rate for funds borrowed, under the debt agreement.

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Represents the aggregate of total long-term debt, including current maturities and short-term debt.

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Weighted average interest rate of debt outstanding.

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Amount before tax of foreign currency transaction realized and unrealized gain (loss) recognized in the income statement.

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The carrying value as of the balance sheet date of the current and noncurrent portions of long-term obligations drawn from a line of credit, which is a bank's commitment to make loans up to a specific amount. Examples of items that might be included in the application of this element may consist of letters of credit, standby letters of credit, and revolving credit arrangements, under which borrowings can be made up to a maximum amount as of any point in time conditional on satisfaction of specified terms before, as of and after the date of drawdowns on the line. Includes short-term obligations that would normally be classified as current liabilities but for which (a) postbalance sheet date issuance of a long term obligation to refinance the short term obligation on a long term basis, or (b) the enterprise has entered into a financing agreement that clearly permits the enterprise to refinance the short-term obligation on a long term basis and the following conditions are met (1) the agreement does not expire within 1 year and is not cancelable by the lender except for violation of an objectively determinable provision, (2) no violation exists at the BS date, and (3) the lender has entered into the financing agreement is expected to be financially capable of honoring the agreement.

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Maximum borrowing capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility.

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Amount of borrowing capacity currently available under the credit facility (current borrowing capacity less the amount of borrowings outstanding).

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