Profit Sharing, Retirement Savings Plans and Defined Benefit Pension Plans - Activity in Plan Assets Measured at Fair Value Using Level 3 Inputs (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]
Fair value of plan assets at beginning of period	$ 762.0
Fair value of plan assets at end of period	836.6	$ 762.0
Level 3
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]
Fair value of plan assets at beginning of period	180.2
Fair value of plan assets at end of period	206.4	180.2
Pension Plan
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]
Fair value of plan assets at beginning of period	762.0	668.7
Foreign exchange gain	26.9	14.7
Fair value of plan assets at end of period	836.6	762.0
Pension Plan | Level 3
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]
Fair value of plan assets at beginning of period	180.2	150.1
Gain on assets still held at end of year	15.4	16.8
Purchases, sales, issuance, and settlements	2.4	8.3
Foreign exchange gain	8.4	5.0
Fair value of plan assets at end of period	$ 206.4	$ 180.2