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Property, Plant and Equipment (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Property, Plant and Equipment [Line Items]      
Property, plant and equipment $ 657.8 $ 651.7  
Less: accumulated depreciation (416.4) (384.6)  
Property, plant and equipment, net [1] 241.4 267.1  
Computer software included in net property, plant and equipment 65.8 68.5  
Amortization of software costs 11.4 8.9 $ 8.2
Land and improvements      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment 23.2 24.0  
Building and improvements to leaseholds      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment 145.9 145.0  
Machinery and equipment      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment 480.4 475.1  
Construction in progress      
Property, Plant and Equipment [Line Items]      
Property, plant and equipment $ 8.3 $ 7.6  
[1] Net property, plant and equipment as of December 31, 2020 and 2019 contained $65.8 million and $68.5 million of computer software assets, respectively, which are classified within machinery and equipment and construction in progress. Depreciation expense for software was $11.4 million, $8.9 million and $8.2 million for the years ended December 31, 2020, 2019 and 2018, respectively.