Accounts Receivable Securitization Programs (Details) € in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2019 USD ($) bank	Dec. 31, 2018 USD ($)	Dec. 31, 2017 USD ($)	Dec. 31, 2019 EUR (€)	Dec. 31, 2018 EUR (€)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank	2
Amount available for accounts receivable securitization program	$ 351.3	$ 249.8
Interest expense	$ 184.1	177.9	$ 184.2
U.S. Accounts Receivable Securitization Program
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank	2
Maximum purchase limit for receivable interests under accounts receivable securitization program	$ 50.0
Amount available for accounts receivable securitization program	39.6
Interest expense	0.8	0.6	$ 1.0
U.S. Accounts Receivable Securitization Program | U.S.program
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Level of eligible assets available under accounts receivable securitization program (less than)	$ 50.0
European Accounts Receivable Securitization Program
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank	2
Maximum purchase limit for receivable interests under accounts receivable securitization program	$ 89.6			€ 80.0
Amount available for accounts receivable securitization program	$ 87.4			€ 78.0
European Accounts Receivable Securitization Program | European Program
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Amount outstanding under accounts receivable securitization program		$ 83.9			€ 73.3