Fair Value of Financial Instruments - Hierarchy (Details) - USD ($) $ in Millions	Mar. 31, 2020	Dec. 31, 2019
Significant Other Observable Inputs (Level 2)
Liabilities:
Fair value of long-term fixed interest rate debt	$ 453.1	$ 517.4
Recurring basis
Assets:
Interest rate and cross currency swap agreements	21.1	10.1
Foreign exchange contracts	0.1	0.9
Embedded derivatives in purchase and delivery contracts	0.8	0.1
Fixed price commodity contracts		0.3
Total assets recorded at fair value	22.0	11.4
Liabilities:
Contingent consideration	11.9	15.8
Hybrid instrument liability	10.9	10.6
Interest rate and cross currency swap agreements	17.0	16.9
Foreign exchange contracts	0.8	0.4
Embedded derivatives in purchase and delivery contracts		0.6
Fixed price commodity contracts	0.8
Total liabilities recorded at fair value	41.4	44.3
Recurring basis | Significant Other Observable Inputs (Level 2)
Assets:
Interest rate and cross currency swap agreements	21.1	10.1
Foreign exchange contracts	0.1	0.9
Embedded derivatives in purchase and delivery contracts	0.8	0.1
Fixed price commodity contracts		0.3
Total assets recorded at fair value	22.0	11.4
Liabilities:
Interest rate and cross currency swap agreements	17.0	16.9
Foreign exchange contracts	0.8	0.4
Embedded derivatives in purchase and delivery contracts		0.6
Fixed price commodity contracts	0.8
Total liabilities recorded at fair value	18.6	17.9
Recurring basis | Significant Unobservable Inputs (Level 3)
Liabilities:
Contingent consideration	11.9	15.8
Hybrid instrument liability	10.9	10.6
Total liabilities recorded at fair value	$ 22.8	$ 26.4