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Pensions - Summary of Components of Net Periodic Pension Expense (Benefit) (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
U.S. Benefit Plan    
Defined Benefit Plan Disclosure [Line Items]    
Service cost $ 0.0 $ 0.0
Interest cost 1.2 1.4
Amortization of actuarial loss 1.0 0.8
Amortization of prior service cost 0.0 0.0
Expected return on plan assets (2.4) (2.3)
Net periodic pension benefit (0.2) (0.1)
Non-U.S. Benefit Plan    
Defined Benefit Plan Disclosure [Line Items]    
Service cost 0.1 0.1
Interest cost 0.2 0.3
Amortization of actuarial loss 0.2 0.1
Amortization of prior service cost 0.0 0.0
Expected return on plan assets (0.5) (0.5)
Net periodic pension benefit $ 0.0 $ 0.0