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Income Taxes - Uncertain Income Tax Positions (Details)
$ in Millions
 12 Months Ended
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2020
USD ($)
jurisdiction
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Income Tax Contingency [Line Items]            
Number of significant foreign jurisdictions | jurisdiction       11    
Unrecognized tax benefits $ 68.2 $ 79.1 $ 79.1 $ 76.2 $ 68.2 $ 79.1
Unrecognized tax benefits that would impact effective tax rate       34.6 29.4  
Interest and penalties recognized (1.5) 1.4 0.9      
Interest and penalties accrued       13.9 15.4  
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]            
Balance at beginning of year 68.2 79.1 84.0      
Increases related to positions taken in the current year 1.1 4.1 11.8      
Increases related to positions taken in prior years 25.7 3.4        
Decreases related to positions taken in prior years     (1.8)      
Decreases related to lapse of statutes of limitations (18.8) (13.0) (13.5)      
Settlements during the current year 0.0 (2.8) (1.4)      
Decreases for tax positions on dispositions 0.0 (2.6) 0.0      
Balance at end of year $ 76.2 $ 68.2 $ 79.1      
Offsetting non-current deferred tax asset       27.4 $ 34.0 $ 45.3
Minimum            
Income Tax Contingency [Line Items]            
Possible decrease in unrecognized tax benefits       33.4    
Maximum            
Income Tax Contingency [Line Items]            
Possible decrease in unrecognized tax benefits       $ 53.1