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Accounts Receivable Securitization Programs (Details) | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2021 USD ($) | Jun. 30, 2020 USD ($) | Jun. 30, 2021 USD ($) bank | Jun. 30, 2020 USD ($) | Jun. 30, 2021 EUR (€)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |
Interest paid | $ 42,100,000 | $ 43,300,000 | $ 85,200,000 | $ 87,700,000 |
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 | 48,400,000 |  | 48,400,000 |  |
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] |  |  |  |  |
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank |  |  | 2 |  |
Amounts available under program | 95,200,000 |  | $ 95,200,000 |  | € 80,000,000.0
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 | 95,200,000 |  | 95,200,000 |  | € 80,000,000.0
Accounts Receivable Securitization Programs |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |
Interest paid | $ 0 | $ 200,000 | $ 0 | $ 300,000 |

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