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Income Taxes - Summary of Components of Net Deferred Income Tax Asset (Details) - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019
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Deferred income tax assets (liabilities): |  |
Tax loss carryforwards | $ 423.9 | $ 419.7
Tax credit carryforwards | 280.6 | 294.0
Retirement benefit plans | 82.9 | 59.1
Accrued liabilities | 177.9 | 136.1
Self-insurance reserves | 7.1 | 5.8
Current asset basis differences | 43.3 | 43.7
Long-term asset basis differences | (36.5) | (65.4)
Deferred compensation | 22.6 | 27.2
Recoverable customer engineering, development and tooling | 67.1 | (10.5)
Undistributed earnings of foreign subsidiaries | (71.7) | (76.7)
Derivative instruments and hedging activities | (5.2) | (5.2)
Other | (8.9) | (5.8)
Deferred tax assets, gross, total | 983.1 | 822.0
Valuation allowance | (397.7) | (344.8)
Net deferred income tax asset | $ 585.4 | $ 477.2

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