Restructuring Activities - Summary of Statement of Operations Effects (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 11.0	$ 41.9	$ 47.8
Total expense	30.6	102.2	61.7
Capital expenditures	0.4	3.4	1.0
Share-based incentive compensation	41.7	32.9	29.2
Continuing Operations
Restructuring Cost And Reserve [Line Items]
Other associated costs	19.6	60.3	13.9
Restructuring charges	$ 11.0	$ 41.9	47.8
Share-based incentive compensation			$ 1.9