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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Unremitted foreign earnings $ 1,600.0    
Unrecognized deferred withholding taxes on undistributed earnings of foreign subsidiaries , excluding non-cash E&P 1,100.0    
Unrecognized deferred withholding taxes on undistributed earnings of foreign subsidiaries , excluding non-cash E&P reinvested 447.0    
Unrecognized deferred withholding taxes on undistributed earnings of foreign subsidiaries 58.0    
Gross unrecognized tax benefits, excluding interest 15.9    
Reconciliation of beginning and ending amount of unrecognized tax benefits      
Gross unrecognized tax benefits at the beginning of the year 6.6 $ 4.4 $ 6.2
Gross increases - tax positions in prior periods 4.7 3.1  
Gross increases - current period tax positions 4.7    
Lapse of statutes (0.1) (0.9) (1.8)
Gross unrecognized tax benefits at the end of the year 15.9 6.6 $ 4.4
Accrued interest and penalties related to uncertain tax positions $ 0.4 0.2  
Penalties and interest (benefit) expense relating to unrecognized tax benefits   $ (0.2)  
Statutory tax rate (as a percent) 21.00% 21.00% 35.00%
Change in tax rates (as a percent) 0.30% 1.10% 0.90%
Statutory Corporate tax rate (as a percent) 21.00% 21.00% 35.00%
Germany and Switzerland      
Reconciliation of beginning and ending amount of unrecognized tax benefits      
Change in tax rates (as a percent)   5.51%  
Germany      
Reconciliation of beginning and ending amount of unrecognized tax benefits      
Statutory tax rate (as a percent)   30.00%  
Statutory Corporate tax rate (as a percent)   30.00%  
Switzerland      
Reconciliation of beginning and ending amount of unrecognized tax benefits      
Statutory tax rate (as a percent)   20.00%  
Statutory Corporate tax rate (as a percent)   20.00%