Accounts Receivable Securitization Programs (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2021 USD ($)	Jun. 30, 2020 USD ($)	Jun. 30, 2021 USD ($) bank	Jun. 30, 2020 USD ($)	Jun. 30, 2021 EUR (€)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 42,100,000	$ 43,300,000	$ 85,200,000	$ 87,700,000
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	48,400,000		48,400,000
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]
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank			2
Amounts available under program	95,200,000		$ 95,200,000		€ 80,000,000.0
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	95,200,000		95,200,000		€ 80,000,000.0
Accounts Receivable Securitization Programs
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 0	$ 200,000	$ 0	$ 300,000