Accounts Receivable Securitization Programs (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2020 USD ($)	Jun. 30, 2019 USD ($)	Jun. 30, 2020 USD ($) bank	Jun. 30, 2019 USD ($)	Jun. 30, 2020 EUR (€)	Dec. 31, 2019 USD ($)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 43,300,000	$ 43,200,000	$ 87,700,000	$ 88,100,000
U.S. Accounts Receivable Securitization Program | U.S. 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
Level of eligible assets available under accounts receivable securitization program			$ 50,000,000.0
Amounts available under program	45,800,000		45,800,000
Amount utilized under accounts receivable securitization program	0		0			$ 0
U.S. Accounts Receivable Securitization Program | U.S. Program | Maximum
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Maximum purchase limit for receivable interests under accounts receivable securitization program	50,000,000.0		50,000,000.0
European Accounts Receivable Securitization Program | European Program
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Amounts available under program	79,600,000		79,600,000		€ 70,800,000
Amount utilized under accounts receivable securitization program	49,500,000		49,500,000		44,000,000.0	$ 0
European Accounts Receivable Securitization Program | European Program | Maximum
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Maximum purchase limit for receivable interests under accounts receivable securitization program	89,900,000		89,900,000		€ 80,000,000.0
Accounts Receivable Securitization Programs
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 200,000	$ 200,000	$ 300,000	$ 400,000