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Pension and Other Postretirement Benefits - Components of Defined Benefit Plan (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Change in plan assets      
Company contributions $ 4.6 $ 13.4  
Amount recognized in the consolidated balance sheets:      
Pension asset 69.5 44.2  
Decrease in defined benefit obligation 10.0 13.0  
Pensions      
Change in projected benefit obligation      
Projected benefit obligation at January 1 1,379.1 1,261.3  
Service cost 4.4 4.2 $ 6.3
Interest cost 36.7 47.6 44.5
Actuarial loss (gain) 115.5 153.0  
Plan participants’ contributions 0.0 0.0  
Settlements (1.5) (3.5)  
Benefits paid (83.9) (83.5)  
Projected benefit obligation at December 31 1,450.3 1,379.1 1,261.3
Change in plan assets      
Fair value of plan assets at January 1 1,390.6 1,269.7  
Actual return on plan assets 176.5 196.2  
Foreign currency exchange rate changes 0.0 (0.2)  
Company contributions 2.9 11.9  
Plan participants’ contributions 0.0 0.0  
Settlements (1.5) (3.5)  
Benefits paid (83.9) (83.5)  
Fair value of plan assets at December 31 1,484.6 1,390.6 1,269.7
Funded Status      
Net funded status of the plan (liability) 34.3 11.5  
Amount recognized in the consolidated balance sheets:      
Pension asset 69.5 44.2  
Accrued benefit liability (35.2) (32.7)  
Total 34.3 11.5  
Pensions | Non-U.S.      
Change in plan assets      
Company contributions 0.5 0.0  
Other Benefits      
Change in projected benefit obligation      
Projected benefit obligation at January 1 15.8 18.9  
Service cost 0.0 0.0 0.0
Interest cost 0.4 0.6 0.7
Actuarial loss (gain) 0.3 (2.2)  
Plan participants’ contributions 0.5 0.4  
Settlements 0.0 0.0  
Benefits paid (1.7) (1.9)  
Projected benefit obligation at December 31 15.3 15.8 18.9
Change in plan assets      
Fair value of plan assets at January 1 0.0 0.0  
Actual return on plan assets 0.0 0.0  
Foreign currency exchange rate changes 0.0 0.0  
Company contributions 1.2 1.5  
Plan participants’ contributions 0.5 0.4  
Settlements 0.0 0.0  
Benefits paid (1.7) (1.9)  
Fair value of plan assets at December 31 0.0 0.0 $ 0.0
Funded Status      
Net funded status of the plan (liability) (15.3) (15.8)  
Amount recognized in the consolidated balance sheets:      
Pension asset 0.0 0.0  
Accrued benefit liability (15.3) (15.8)  
Total (15.3) (15.8)  
Pension Plan, With Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) 69.5 44.2  
Pension Plan, With Assets | Non-U.S.      
Funded Status      
Net funded status of the plan (liability) (3.0) (1.3)  
Other Benefits, With Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) 0.0 0.0  
Other Benefits, With Assets | Non-U.S.      
Funded Status      
Net funded status of the plan (liability) 0.0 0.0  
Pension Plan, Without Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) (23.9) (22.4)  
Other Benefits, Without Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) (15.3) (15.8)  
Pensions      
Funded Status      
Net funded status of the plan (liability) (8.3) (9.0)  
Other Benefit Plans      
Funded Status      
Net funded status of the plan (liability) $ 0.0 $ 0.0