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Restructuring - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   $ 10.3 $ 19.7 $ 17.1
Asset impairments   25.6 0.0 $ 0.0
Restructuring, 2020 Initiative        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   10.3 $ 19.7  
Asset impairments $ 18.6 $ 18.6