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Pension and Savings Plans - Components of Net Periodic Pension Cost (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Components of net periodic pension costs      
Net periodic pension benefit $ (1.8) $ 19.4 $ 18.1
Pension Plan      
Components of net periodic pension costs      
Service cost for benefits earned 0.3 2.0 2.3
Interest cost on projected benefit obligation 28.0 33.5 31.4
Expected return on plan assets (29.7) (31.4) (42.8)
Settlement gain (2.7) 0.0 0.0
Amortization of actuarial loss (25.6) (16.6) 4.2
Net periodic pension benefit $ (29.7) $ (12.5) $ (4.9)