Accounts Receivable Securitization Programs (Details)	3 Months Ended
	Mar. 31, 2021 USD ($) bank	Mar. 31, 2020 USD ($)	Mar. 31, 2021 EUR (€)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 43,100,000	$ 44,400,000
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	50,000,000.0
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
European Accounts Receivable Securitization Program | European 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
Amounts available under program	$ 82,900,000		€ 70,700,000
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	93,700,000		€ 80,000,000.0
Accounts Receivable Securitization Programs
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 0	$ 100,000