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Accumulated Other Comprehensive Loss - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclass to retained earnings as result of adoption of ASU 2018-02 |  |  | $ 1.6
Unrecognized Net Defined Benefit Plan Costs |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on unrecognized net defined plan costs, net gains | $ 1.0 | $ 1.0 | 0.7
Reclassification adjustment from AOCI on unrecognized net defined plan costs, tax | 0.2 | 0.2 | $ 0.2
Change in Fair Value of Derivatives Products | Foreign Currency Forward Exchange Contracts |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | (14.5) | (13.1) |
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) | 3.5 | 3.0 |
Change in Fair Value of Derivatives Products | Interest Rate Swap Agreements |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | (9.3) | 1.3 |
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) | 2.2 | 0.2 |
Change in Fair Value of Derivatives Products | Commodity Swaps |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | (5.5) | (3.5) |
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) | $ 1.3 | $ 0.8 |

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