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Shareholders' Equity - Components of Accumulated Other Comprehensive Loss, Net of Tax (Details) - USD ($)
$ in Millions
Mar. 31, 2021
Dec. 31, 2020
Mar. 31, 2020
Dec. 31, 2019
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss $ 2,377.4 $ 2,453.6 $ 2,639.0 $ 2,761.5
Foreign currency translation        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss (168.6) (72.1)    
Translation loss on derivative instruments, net of income tax benefit of $(20.5) and $(34.9), respectively        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss (31.6) (81.2)    
Translation loss on long-term intercompany loans        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss (127.7) (133.3)    
Defined benefit pension plans and Retiree health care plan | Defined benefit pension plans, net of income tax benefit of $(37.9) and $(38.2), respectively        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss (110.4) (111.4)    
Defined benefit pension plans and Retiree health care plan | Retiree health care plan, net of income taxes of $1.8 for both 2021 and 2020        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss 0.5 0.7    
Accumulated other comprehensive loss        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss $ (437.8) $ (397.3) $ (505.8) $ (441.0)