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Accounts Receivable Securitization Programs (Details) | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2020 USD ($) | Jun. 30, 2019 USD ($) | Jun. 30, 2020 USD ($) bank | Jun. 30, 2019 USD ($) | Jun. 30, 2020 EUR (€) | Dec. 31, 2019 USD ($)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |
Interest paid | $ 43,300,000 | $ 43,200,000 | $ 87,700,000 | $ 88,100,000 |  |
U.S. Accounts Receivable Securitization Program | U.S. Program |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank |  |  | 2 |  |  |
Level of eligible assets available under accounts receivable securitization program |  |  | $ 50,000,000.0 |  |  |
Amounts available under program | 45,800,000 |  | 45,800,000 |  |  |
Amount utilized under accounts receivable securitization program | 0 |  | 0 |  |  | $ 0
U.S. Accounts Receivable Securitization Program | U.S. Program | Maximum |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |
Maximum purchase limit for receivable interests under accounts receivable securitization program | 50,000,000.0 |  | 50,000,000.0 |  |  |
European Accounts Receivable Securitization Program | European Program |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |
Amounts available under program | 79,600,000 |  | 79,600,000 |  | € 70,800,000 |
Amount utilized under accounts receivable securitization program | 49,500,000 |  | 49,500,000 |  | 44,000,000.0 | $ 0
European Accounts Receivable Securitization Program | European Program | Maximum |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |
Maximum purchase limit for receivable interests under accounts receivable securitization program | 89,900,000 |  | 89,900,000 |  | € 80,000,000.0 |
Accounts Receivable Securitization Programs |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |
Interest paid | $ 200,000 | $ 200,000 | $ 300,000 | $ 400,000 |  |

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