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Pension and Other Post-Employment Plans - Additional Information (Details)
$ in Millions
 12 Months Ended
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Defined Benefit Plan Disclosure [Line Items]      
Number of company sponsored defined benefit pension plans 2    
Cost of defined contribution pension plans $ 7.7 $ 7.9 $ 7.2
Deferred compensation liability 13.8 11.1  
Other Expense      
Defined Benefit Plan Disclosure [Line Items]      
Withdrawal charge 2.3    
U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Amendments $ 0.0 $ 0.0  
Weighted-average target return of pension plans 7.40% 7.00% 7.00%
Expected contribution to defined benefit plan $ 4.3    
Non-U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Amendments $ 0.2 [1] $ 0.0 $ 2.6
Weighted-average target return of pension plans 3.60% 4.20% 4.20%
Expected amortization of actuarial loss in next fiscal year $ 4.6    
Expected amortization of prior service cost in next fiscal year 0.1    
Expected contribution to defined benefit plan $ 1.4    
Maximum | Equity Securities | U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 69.00%    
Maximum | Equity Securities | Non-U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 35.00%    
Maximum | Fixed Income Securities | U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 44.00%    
Maximum | Cash and cash equivalents | U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 20.00%    
Maximum | Debt Securities | Non-U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 75.00%    
Minimum | Equity Securities | U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 54.00%    
Minimum | Equity Securities | Non-U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 25.00%    
Minimum | Fixed Income Securities | U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 29.00%    
Minimum | Cash and cash equivalents | U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 0.00%    
Minimum | Debt Securities | Non-U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Target asset allocation 65.00%    
[1] While the non-U.S. benefit plan has not yet been amended, this component of the change to the benefit obligation of the non-U.S. benefit plan during the year ended December 31, 2020 represents the estimated incremental impact of the November 2020 U.K. High Court ruling, as described above.