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Goodwill - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Sep. 30, 2021
Dec. 31, 2020
Goodwill [Line Items]      
Cumulative goodwill impairment   $ 100.2 $ 100.2
COVID-19      
Goodwill [Line Items]      
Goodwill impairment charge $ 77.1    
Services      
Goodwill [Line Items]      
Cumulative goodwill impairment   57.2 57.2
Services | COVID-19      
Goodwill [Line Items]      
Goodwill impairment charge 57.2    
International      
Goodwill [Line Items]      
Cumulative goodwill impairment   29.8 29.8
European Reporting Unit | COVID-19      
Goodwill [Line Items]      
Goodwill impairment charge 19.3    
Brazilian Reporting Unit | COVID-19      
Goodwill [Line Items]      
Goodwill impairment charge $ 0.6    
Products and Systems      
Goodwill [Line Items]      
Cumulative goodwill impairment   $ 13.2 $ 13.2