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Income Taxes - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Sep. 30, 2020 | Mar. 31, 2019 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2012
Income Tax Examination [Line Items] |  |  |  |  |  |  |
U.S. statutory rate |  |  | 21.00% |  |  |  |
Income tax expense |  |  | $ 9.5 | $ 16.6 | $ 56.7 |  |
Income before income tax |  |  | $ 111.4 | $ 78.6 | $ 163.5 |  |
Effective tax rate |  |  | 8.50% | 21.10% | 34.70% |  |
Amended return expected benefit |  |  |  |  | $ 2.1 | $ 1.4 |
Valuation allowance |  |  | $ 52.4 | $ 55.4 |  |  |
Operating loss carryforwards, valuation allowance |  |  | 82.2 |  |  |  |
Deferred taxes for undistributed earnings of foreign subsidiaries |  |  | 4.8 |  |  |  |
Undistributed earnings of foreign subsidiaries not permanently reinvested |  |  | 319.0 |  |  |  |
Undistributed earnings of foreign subsidiaries |  |  | 216.0 |  |  |  |
Foreign tax credit carryforwards |  |  | 17.9 | 23.3 |  |  |
Unrecognized tax benefits |  |  | 43.3 | 45.1 | 50.5 | $ 43.7 |
Unrecognized tax benefits, income tax penalties and interest accrued |  |  | 25.8 |  |  |  |
Excess benefit from stock-based compensation |  |  | (0.5) | (0.9) | (0.2) |  |
Additions for tax positions of prior years |  |  | 4.5 | 2.9 | 8.4 |  |
Minimum |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Reasonably possible change in unrecognized tax benefit |  |  | 3.0 |  |  |  |
Maximum |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Reasonably possible change in unrecognized tax benefit |  |  | 4.0 |  |  |  |
State and Local Jurisdiction |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Operating loss carryforwards |  |  | 14.3 |  |  |  |
Domestic Tax Authority |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Federal general business credit carryforwards |  |  | $ 1.5 |  |  |  |
Domestic Tax Authority | Internal Revenue Service (IRS) | Earliest Tax Year |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Open tax year |  |  | 2018 |  |  |  |
Foreign Tax Authority |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Operating loss carryforwards |  |  | $ 367.0 |  |  |  |
Foreign Tax Authority | Minimum |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Statutes of limitation, period |  |  | 2 years |  |  |  |
Foreign Tax Authority | Maximum |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Statutes of limitation, period |  |  | 5 years |  |  |  |
Foreign Tax Authority | Australian Taxation Office | Earliest Tax Year |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Open tax year |  |  | 2017 |  |  |  |
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Income tax expense |  |  | $ 3.6 |  |  |  |
Standard penalty rate (percent) |  |  | 75.00% |  |  |  |
Enhanced penalty rate (percent) |  |  | 150.00% |  |  |  |
Income tax examination, interest expense |  |  | $ 0.5 | $ 0.3 | $ 0.9 |  |
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil | Earliest Tax Year |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Open tax year |  |  | 2015 |  |  |  |
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil | Tax Year 2008 to 2010 |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Additions for tax positions of prior years | $ 1.2 | $ 5.6 |  |  |  |  |
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil | Tax Years 2007-2012 |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Unrecognized tax benefits |  |  |  |  |  |  | $ 44.5
Potential tax assessment, accrued reserve related to fair value of liabilities acquired |  |  |  |  |  |  | $ 43.3
Foreign Tax Authority | Secretariat of the Federal Revenue Bureau of Brazil | Tax Year 2007 to 2010 | Other non-current liabilities |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Unrecognized tax benefits |  |  | $ 27.1 |  |  |  |
Foreign Tax Authority | Canada Revenue Agency | Earliest Tax Year |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Open tax year |  |  | 2017 |  |  |  |
Foreign Tax Authority | Federal Ministry of Finance, Germany | Earliest Tax Year |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Open tax year |  |  | 2016 |  |  |  |
Foreign Tax Authority | Swedish Tax Agency (Skatteverket) | Earliest Tax Year |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Open tax year |  |  | 2018 |  |  |  |
Foreign Tax Authority | Her Majesty's Revenue and Customs (HMRC) | Earliest Tax Year |  |  |  |  |  |  |
Income Tax Examination [Line Items] |  |  |  |  |  |  |
Open tax year |  |  | 2019 |  |  |  |

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