Accounts Receivable Securitization Programs (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($) bank	Sep. 30, 2020 USD ($)	Sep. 30, 2021 EUR (€)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 42,400,000	$ 43,000,000.0	$ 127,600,000	$ 130,700,000
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
Amounts available under program	50,000,000		50,000,000
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		$ 50,000,000
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	90,100,000		$ 90,100,000		€ 77,700,000
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	92,800,000		92,800,000		€ 80,000,000
Accounts Receivable Securitization Programs
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]
Interest paid	$ 0	$ 100,000	$ 0	$ 400,000