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Financial Instruments, Risk Management and Fair Value Measurements - Derivatives Gain (Loss) (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Derivatives Designated as Hedging Instruments        
Unrealized hedging gains (losses) and other, net of tax $ 3.9 $ (25.5) $ 29.3 $ (62.0)
Reclassification of deferred hedging (gains) losses and other, included in net income, net of tax (expense) benefit of $3.4 and $(0.5) for the three and nine months ended September 30, 2020 and $(0.6) and $(2.3) for the three and nine months ended September 30, 2019, respectively (2) [1] 3.3 (1.2) (15.4) (8.0)
Total derivative instruments, net of tax expense (benefit) of $(0.5) and $2.5 for the three and nine months ended September 30, 2020 and $(8.8) and $(19.4) for the three and nine months ended September 30, 2019, respectively 7.2 (26.7) 13.9 (70.0)
Designated as Hedging Instrument        
Derivatives Designated as Hedging Instruments        
Unrealized hedging gains (losses) and other, net of tax 3.9 (25.5) 29.3 (62.0)
Reclassification of deferred hedging (gains) losses and other, included in net income, net of tax (expense) benefit of $3.4 and $(0.5) for the three and nine months ended September 30, 2020 and $(0.6) and $(2.3) for the three and nine months ended September 30, 2019, respectively (2) 3.3 (1.2) (15.4) (8.0)
Total derivative instruments, net of tax expense (benefit) of $(0.5) and $2.5 for the three and nine months ended September 30, 2020 and $(8.8) and $(19.4) for the three and nine months ended September 30, 2019, respectively 7.2 (26.7) 13.9 (70.0)
Designated as Hedging Instrument | Foreign exchange contracts        
Derivatives Designated as Hedging Instruments        
Unrealized hedging gains (losses) and other, net of tax 1.4 8.4 27.4 4.6
Reclassification of deferred hedging (gains) losses and other, included in net income, net of tax (expense) benefit of $3.4 and $(0.5) for the three and nine months ended September 30, 2020 and $(0.6) and $(2.3) for the three and nine months ended September 30, 2019, respectively (2) 4.1 (1.4) (14.1) (8.2)
Total derivative instruments, net of tax expense (benefit) of $(0.5) and $2.5 for the three and nine months ended September 30, 2020 and $(8.8) and $(19.4) for the three and nine months ended September 30, 2019, respectively 5.5 7.0 13.3 (3.6)
Designated as Hedging Instrument | Interest rate contracts        
Derivatives Designated as Hedging Instruments        
Unrealized hedging gains (losses) and other, net of tax 2.5 (33.9) 1.9 (66.6)
Reclassification of deferred hedging (gains) losses and other, included in net income, net of tax (expense) benefit of $3.4 and $(0.5) for the three and nine months ended September 30, 2020 and $(0.6) and $(2.3) for the three and nine months ended September 30, 2019, respectively (2) (0.8) 0.2 (1.3) 0.2
Total derivative instruments, net of tax expense (benefit) of $(0.5) and $2.5 for the three and nine months ended September 30, 2020 and $(8.8) and $(19.4) for the three and nine months ended September 30, 2019, respectively 1.7 (33.7) 0.6 (66.4)
Not Designated as Hedging Instrument        
Derivatives Not Designated as Hedging Instruments        
Amount of pre-tax gain or (loss) recognized in income on derivatives (14.3) (0.3) (38.4) (11.8)
Not Designated as Hedging Instrument | Foreign exchange contracts | Cost of sales and services        
Derivatives Not Designated as Hedging Instruments        
Amount of pre-tax gain or (loss) recognized in income on derivatives $ (14.3) $ (0.3) $ (38.4) $ (11.8)
[1] For more detail on the components of these reclassifications and the affected line item in the condensed consolidated statements of income (loss) see Note 15.