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Long-term Debt and Credit Agreement - Schedule of Debt (Parenthetical) (Details)
12 Months Ended
Dec. 31, 2020
Oct. 31, 2018
6.125% notes due 2026    
Debt Instrument [Line Items]    
Interest rate 6.125% 6.125%
Debt instrument maturity year 2026  
Five Year Variable Rate Term Loan A Due 2023    
Debt Instrument [Line Items]    
Debt instrument maturity year 2023  
Seven Year Variable Rate Term Loan B Due 2025    
Debt Instrument [Line Items]    
Debt instrument maturity year 2025