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Joint Ventures - Balance Sheet Information (Details) - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
--- | --- | --- | --- | ---
Schedule of Equity Method Investments [Line Items] |  |  |  |
Current assets | $ 396.4 | $ 427.5 |  |
Current liabilities | 166.9 | 157.6 |  |
Accumulated other comprehensive loss | 649.6 | 597.7 | $ 557.9 | $ 546.7
Joint venture | China |  |  |  |
Schedule of Equity Method Investments [Line Items] |  |  |  |
Current assets | 110.0 | 99.4 |  |
Noncurrent assets | 166.6 | 168.0 |  |
Current liabilities | 67.6 | 43.1 |  |
Long-term liabilities | 60.2 | 88.4 |  |
Accumulated other comprehensive loss | $ 148.8 | $ 135.9 |  |

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