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Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Accumulated Other Comprehensive Income (Loss), Net of Tax [Abstract] |  |  |
Cumulative foreign currency translation | $ (190.8) | $ (200.2) |
Unrecognized pension costs (net of tax benefit of $64.6 in 2020 and $30.5 in 2019) | (114.9) | (96.1) |
Unrealized gain (loss) on cash flow hedges (net of tax (benefit) expense of $(3.1) in 2020 and $0.3 in 2019) | (2.6) | 5.9 |
Total accumulated other comprehensive income (loss) | (308.3) | (290.4) |
Unrecognized pension costs, tax benefit | 64.6 | 30.5 |
Unrealized gain (loss) on cash flow hedges, tax expense | (3.1) | 0.3 |
Foreign currency translation adjustment [Abstract] |  |  |
Foreign currency translation adjustment, pre-tax amount | 10.9 | (29.9) | $ (67.9)
Foreign currency translation adjustment, tax (expense) benefit | 0.0 | 0.0 | 0.0
Foreign currency translation adjustments, net-of-tax amount | 10.9 | (29.9) | (67.9)
Pension plans [Abstract] |  |  |
Net actuarial gains (losses) and prior service costs arising during the period, pre-tax amount | (37.9) | (30.6) | 9.6
Net actuarial gains (losses) and prior service costs arising during the period, tax (expense) benefit | 9.2 | 7.4 | (1.8)
Net actuarial gains (losses) and prior service costs arising during the period, net-of-tax amount | (28.7) | (23.2) | 7.8
Amortization of net actuarial (gains) losses and prior service costs, pre-tax amount | 13.4 | 9.4 | 12.1
Amortization of net actuarial (gains) losses and prior service costs, tax (expense) benefit | (3.4) | (2.3) | (3.0)
Amortization of net actuarial (gains) losses and prior service costs, net-of-tax amount | 10.0 | 7.1 | 9.1
Unrealized gains (losses) on cash flow hedges [Abstract] |  |  |
Unrealized gains (losses) on cash flow hedges, pre-tax amount | (11.6) | 0.3 | 1.5
Unrealized gains (losses) on cash flow hedges, tax (expense) benefit | 3.1 | (0.1) | 0.1
Unrealized gains (losses) on cash flow hedges, net-of-tax amount | (8.5) | 0.2 | 1.6
Total other comprehensive income (loss), pre-tax amount | (25.2) | (50.8) | (44.7)
Total other comprehensive income (loss), tax | 8.9 | 5.0 | (4.7)
Total other comprehensive income (loss), net of tax | $ (16.3) | $ (45.8) | $ (49.4)

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