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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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