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Interim Financial Statements - Business Overview (Details)
$ in Millions
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
USD ($)
item
Sep. 30, 2019
USD ($)
Sep. 30, 2020
USD ($)
item
location
Sep. 30, 2019
USD ($)
Dec. 31, 2019
USD ($)
Interim Financial Statements          
Total revenues | $ $ 5,971.6 $ 5,967.6 $ 14,631.8 $ 17,287.8  
PTL          
Interim Financial Statements          
Ownership interest in Penske Truck Leasing Co (as a percent)     28.90%    
Retail Automotive Dealership          
Interim Financial Statements          
Total revenues | $         $ 20,600.0
Number of owned and operated franchises in US 145   145    
Minimum number of vehicles retailed and wholesaled     371,000    
Number of used vehicle supercenters operated in the U.S. and U.K. 16   16    
Number of acquired franchises     0    
Number of retail locations operated | location     6    
Retail Automotive Dealership | UK          
Interim Financial Statements          
Number of franchises disposed     10    
Retail Commercial Truck Dealership | PTG          
Interim Financial Statements          
Number of operating locations | location     25    
Automotive dealership revenues | Geographic | U.S. and Puerto Rico | Retail Automotive Dealership          
Interim Financial Statements          
Automotive dealership revenue (as a percent)     57.00%    
Automotive dealership revenues | Geographic | Outside the U.S. | Retail Automotive Dealership          
Interim Financial Statements          
Automotive dealership revenue (as a percent)     43.00%    
CarShop | Retail Automotive Dealership          
Interim Financial Statements          
Number of retail locations operated | location     10    
Penske Corporation | PTL          
Interim Financial Statements          
Ownership interest in Penske Truck Leasing Co (as a percent)     41.10%    
Mitsui and Co | PTL          
Interim Financial Statements          
Ownership interest in Penske Truck Leasing Co (as a percent)     30.00%    
Retail Automotive Dealership          
Interim Financial Statements          
Total revenues | $ $ 5,258.0 5,155.4 $ 12,828.1 15,442.9  
Total number of owned and operated franchises 311   311    
Number of owned and operated franchises outside US 166   166    
Retail Automotive Dealership | UK          
Interim Financial Statements          
Total revenues | $ $ 2,105.5 1,859.6 $ 4,608.7 5,827.7  
Retail Automotive Dealership | U.S.          
Interim Financial Statements          
Total revenues | $ 2,780.7 2,995.5 $ 7,288.4 8,624.1  
Retail Automotive Dealership | Automotive dealership revenues | Premium brands | Retail Automotive Dealership          
Interim Financial Statements          
Automotive dealership revenue (as a percent)     70.00%    
Minimum number of vehicle brands offered     35    
Retail Commercial Truck Dealership          
Interim Financial Statements          
Total revenues | $ 590.9 692.3 $ 1,481.5 1,451.4  
Commercial Vehicle Distribution and Other          
Interim Financial Statements          
Total revenues | $ $ 122.7 $ 119.9 $ 322.2 $ 393.5