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Retirement and Deferred Compensation Plans - Schedule of Fair Value of Pension Plan Assets by Asset Category (Details) - Pension plans - USD ($) $ in Millions | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
--- | --- | --- | ---
Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 214.8 | $ 153.9 | $ 108.8
United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 38.8 | 36.1 | 38.7
United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 7.8 | 6.3 |
United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 31.0 | 29.8 |
United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Cash and cash equivalents |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 5.8 | 5.1 |
United States Plans | Cash and cash equivalents | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Cash and cash equivalents | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 5.8 | 5.1 |
United States Plans | Cash and cash equivalents | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Mutual funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 7.8 | 6.3 |
United States Plans | Mutual funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 7.8 | 6.3 |
United States Plans | Mutual funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Mutual funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Common stock | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Common stock | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Common stock | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 25.2 | 24.7 |
United States Plans | Fixed income funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Fixed income funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 25.2 | 24.7 |
United States Plans | Fixed income funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Annuity contract |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Annuity contract | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Annuity contract | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Annuity contract | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Bonds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Bonds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Guaranteed insurance contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Guaranteed insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Guaranteed insurance contracts | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Guaranteed insurance contracts | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Bank loans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 0.0 |
United States Plans | Bank loans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 0.0 |
United States Plans | Bank loans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 0.0 |
United States Plans | Bank loans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 0.0 |
United States Plans | Insurance contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Insurance contracts | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Insurance contracts | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Real estate funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Real estate funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Real estate funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Real estate funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
United States Plans | Hedge funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Hedge funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Hedge funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Hedge funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Other |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Other | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Other | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
United States Plans | Other | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 655.4 | 354.1 | $ 376.7
Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 125.8 | 66.0 |
Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 314.8 | 134.2 |
Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 214.8 | 153.9 |
Non-United States Plans | Cash and cash equivalents |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 5.5 | 35.5 |
Non-United States Plans | Cash and cash equivalents | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 5.5 | 35.5 |
Non-United States Plans | Cash and cash equivalents | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Cash and cash equivalents | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Mutual funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 98.0 | 30.5 |
Non-United States Plans | Mutual funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 98.0 | 30.5 |
Non-United States Plans | Mutual funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Mutual funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Common stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 22.3 |  |
Non-United States Plans | Common stock | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 22.3 |  |
Non-United States Plans | Common stock | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Non-United States Plans | Common stock | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Non-United States Plans | Fixed income funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 160.0 | 99.4 |
Non-United States Plans | Fixed income funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Fixed income funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 160.0 | 99.4 |
Non-United States Plans | Fixed income funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Annuity contract |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 52.5 | 46.2 |
Non-United States Plans | Annuity contract | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Annuity contract | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Annuity contract | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 52.5 | 46.2 |
Non-United States Plans | Bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 37.0 |  |
Non-United States Plans | Bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Non-United States Plans | Bonds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 37.0 |  |
Non-United States Plans | Bonds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Non-United States Plans | Guaranteed insurance contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 18.5 | 17.7 |
Non-United States Plans | Guaranteed insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Guaranteed insurance contracts | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 18.5 | 17.7 |
Non-United States Plans | Guaranteed insurance contracts | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Bank loans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 8.9 |
Non-United States Plans | Bank loans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 0.0 |
Non-United States Plans | Bank loans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 8.9 |
Non-United States Plans | Bank loans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 0.0 |
Non-United States Plans | Insurance contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 130.6 | 107.7 |
Non-United States Plans | Insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Insurance contracts | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Insurance contracts | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 130.6 | 107.7 |
Non-United States Plans | Real estate funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 93.3 | 8.2 |
Non-United States Plans | Real estate funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 | 0.0 |
Non-United States Plans | Real estate funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 87.3 | 8.2 |
Non-United States Plans | Real estate funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 6.0 | $ 0.0 |
Non-United States Plans | Hedge funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 29.3 |  |
Non-United States Plans | Hedge funds | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Non-United States Plans | Hedge funds | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 9.6 |  |
Non-United States Plans | Hedge funds | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 19.7 |  |
Non-United States Plans | Other |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 8.4 |  |
Non-United States Plans | Other | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Non-United States Plans | Other | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 2.4 |  |
Non-United States Plans | Other | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 6.0 |  |

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