Accounts Receivable Securitization Programs (Details) € in Millions	12 Months Ended
	Dec. 31, 2020 USD ($) bank	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)	Dec. 31, 2020 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
Interest expense	$ 174,400,000	$ 184,100,000	$ 177,900,000
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	$ 50,000,000.0
Interest expense	400,000	800,000	$ 600,000
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)	50,000,000.0
Amount available for accounts receivable securitization program	50,000,000.0
Amount outstanding under accounts receivable securitization program	$ 0	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
European Accounts Receivable Securitization Program | European Program
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Maximum purchase limit for receivable interests under accounts receivable securitization program	$ 98,400,000			€ 80.0
Amount available for accounts receivable securitization program	95,500,000			€ 77.7
Amount outstanding under accounts receivable securitization program	$ 0	$ 0