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Pension and Other Postretirement Benefit Plans - Pension Plan Assets by Asset Category (Details) - Pension - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
--- | --- | --- | ---
U.S. |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | $ 418.2 | $ 376.6 | $ 330.6
U.S. | Fair value, Measurements, Recurring |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 418.2 | 376.6 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 359.9 | 333.4 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 104.3 | 103.6 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 85.2 | 77.4 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 84.2 | 76.0 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 66.7 | 53.9 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 6.2 | 7.3 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Preferred stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 1.4 | 1.2 |
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 11.9 | 14.0 |
U.S. | Fair value, Measurements, Recurring | Level 1 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 227.7 | 212.0 |
U.S. | Fair value, Measurements, Recurring | Level 1 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 85.9 | 81.5 |
U.S. | Fair value, Measurements, Recurring | Level 1 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 53.9 | 45.5 |
U.S. | Fair value, Measurements, Recurring | Level 1 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 84.2 | 76.0 |
U.S. | Fair value, Measurements, Recurring | Level 1 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 1 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 1 | Preferred stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.9 | 0.6 |
U.S. | Fair value, Measurements, Recurring | Level 1 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 2.8 | 8.4 |
U.S. | Fair value, Measurements, Recurring | Level 2 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 132.2 | 121.4 |
U.S. | Fair value, Measurements, Recurring | Level 2 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 18.4 | 22.1 |
U.S. | Fair value, Measurements, Recurring | Level 2 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 31.3 | 31.9 |
U.S. | Fair value, Measurements, Recurring | Level 2 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 2 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 66.7 | 53.9 |
U.S. | Fair value, Measurements, Recurring | Level 2 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 6.2 | 7.3 |
U.S. | Fair value, Measurements, Recurring | Level 2 | Preferred stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.5 | 0.6 |
U.S. | Fair value, Measurements, Recurring | Level 2 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 9.1 | 5.6 |
U.S. | Fair value, Measurements, Recurring | Level 3 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 3 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 3 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 3 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 3 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 3 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 3 | Preferred stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Level 3 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
U.S. | Fair value, Measurements, Recurring | Alternative investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 58.3 | 43.2 |
Foreign |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 383.0 | 396.8 | $ 351.8
Foreign | Fair value, Measurements, Recurring |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 383.0 | 396.8 |
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 352.7 | 358.9 |
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 138.0 | 148.4 |
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 60.9 | 66.7 |
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 58.4 | 45.6 |
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 30.8 | 31.5 |
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 49.5 | 55.8 |
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 15.1 | 10.9 |
Foreign | Fair value, Measurements, Recurring | Level 1 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 67.9 | 74.4 |
Foreign | Fair value, Measurements, Recurring | Level 1 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 1 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 60.9 | 66.7 |
Foreign | Fair value, Measurements, Recurring | Level 1 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 1 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 1 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 1 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 7.0 | 7.7 |
Foreign | Fair value, Measurements, Recurring | Level 2 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 284.8 | 284.5 |
Foreign | Fair value, Measurements, Recurring | Level 2 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 138.0 | 148.4 |
Foreign | Fair value, Measurements, Recurring | Level 2 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 2 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 58.4 | 45.6 |
Foreign | Fair value, Measurements, Recurring | Level 2 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 30.8 | 31.5 |
Foreign | Fair value, Measurements, Recurring | Level 2 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 49.5 | 55.8 |
Foreign | Fair value, Measurements, Recurring | Level 2 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 8.1 | 3.2 |
Foreign | Fair value, Measurements, Recurring | Level 3 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 3 | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 3 | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 3 | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 3 | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 3 | Government obligations |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Level 3 | Cash and short-term investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | 0.0 | 0.0 |
Foreign | Fair value, Measurements, Recurring | Alternative investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Assets at fair value | $ 30.3 | $ 37.9 |

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