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Restructuring and Related Impairment Charges - 2020 restructuring Plan (Details) - 2020 Restructuring Plan - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]      
Restructuring charges $ 56.7 $ 7.1  
Restructuring and related impairment charges recorded to date 570.5    
Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring costs     $ 550.0
Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring costs     $ 600.0
Contract Exit Costs      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges $ 57.5