Restructuring Activities - Summary of Restructuring Activities (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Restructuring Cost and Reserve [Line Items]
Other associated costs	$ 4.8	$ 3.8	$ 10.1	$ 7.8
Restructuring charges	2.1	10.1	2.1	10.7
Total charges	6.9	13.9	12.2	18.5
Capital expenditures	2.1	0.0	3.3	0.2
Continuing Operations
Restructuring Cost and Reserve [Line Items]
Other associated costs	4.8	3.8	10.1	7.8
Restructuring charges	$ 2.1	$ 10.1	$ 2.1	$ 10.7