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Debt - Additional Information (Details) |  |  |  |  | 1 Months Ended | 12 Months Ended |
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Dec. 09, 2020 USD ($) | Jun. 01, 2020 USD ($) | May 18, 2020 | Apr. 30, 2018 USD ($) | Jun. 30, 2020 USD ($) | May 31, 2020 USD ($) | Apr. 30, 2020 USD ($) | Feb. 29, 2020 USD ($) | Sep. 29, 2019 USD ($) | May 31, 2019 USD ($) | Mar. 31, 2019 USD ($) | Jan. 31, 2019 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) | Jun. 04, 2020 USD ($)
2.25% Medium-term notes due 2019 | Medium-term Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Extinguishment of debt, amount |  |  |  |  |  |  |  | $ 600,000,000.0 |  |  |  | $ 600,000,000.0 |  |  |
Extinguishment of debt, stated interest rate |  |  |  |  |  |  |  | 2.15% |  |  |  | 2.25% |  |  |
Floating-Rate Medium Term Notes due 2019 | Medium-term Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Extinguishment of debt, amount |  |  |  |  |  | $ 450,000,000.0 |  |  |  |  | $ 150,000,000.0 |  |  |  |
Two Point Four Percent Medium-Term Notes Due 2019 | Medium-term Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Extinguishment of debt, amount |  |  |  |  | $ 350,000,000.0 |  |  |  | $ 600,000,000.0 |  |  |  |  |  |
Extinguishment of debt, stated interest rate |  |  |  |  | 2.40% |  |  |  | 2.40% |  |  |  |  |  |
Revolving Credit Facility |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Early repayment of debt | $ 150,000,000.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Revolving Credit Facility | Credit Facility Maturing April 2025, Five Year Term |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, term |  |  |  |  |  |  | 5 years |  |  |  |  |  |  |  |
Revolving Credit Facility | Variable Rate Notes Maturing May 11 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, term |  | 364 years | 364 years |  |  |  | 364 days |  |  | 364 days |  |  |  |  |
Line of credit, maximum borrowing capacity |  | $ 350,000,000.0 |  |  |  |  | $ 195,000,000.0 |  |  | $ 350,000,000.0 |  |  |  |  | $ 150,000,000.0
Line of Credit | Credit Facility Maturing April 2025, Five Year Term |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, term |  |  |  |  |  |  | 5 years |  |  |  |  |  |  |  |
Line of credit, maximum borrowing capacity |  |  |  |  |  |  | $ 707,500,000 |  |  |  |  |  |  |  |
Line of Credit | Credit Facility Maturing April 2021, Five Year Term |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, term |  |  |  |  |  |  | 5 years |  |  |  |  |  |  |  |
Line of credit, maximum borrowing capacity |  |  |  | $ 765,000,000.0 |  |  |  |  |  |  |  |  |  |  |
Line of Credit | Credit Facility Maturing April 2023, Five Year Maturity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, term |  |  |  | 5 years |  |  |  |  |  |  |  |  | 5 years |  |
Line of credit, maximum borrowing capacity |  |  |  | $ 780,000,000.0 |  |  | $ 707,500,000 |  |  |  |  |  |  |  |
Line of Credit | Global Credit Facilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Covenant, debt to equity ratio, excluding subsidiary debt (cannot exceed) |  |  |  |  |  |  |  |  |  |  |  |  | 10.0 |  |
Covenant, debt to equity ratio, excluding subsidiary debt |  |  |  |  |  |  |  |  |  |  |  |  | 0.7 |  |
U.S. Line of Credit | Asset-backed U.S. commercial paper conduit facilities | Secured Debt | Consolidated VIEs: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, term |  |  |  |  |  |  |  |  |  |  |  |  | 4 years |  |
Amount transferred to receivables |  |  |  |  |  |  |  |  |  |  |  |  | $ 195,300,000 | $ 174,400,000 |
Unsecured Commercial Paper |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, term |  |  |  |  |  |  |  |  |  |  |  |  | 365 days |  |
Weighted-average interest rate of commercial paper |  |  |  |  |  |  |  |  |  |  |  |  | 1.34% | 1.94% |

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