Fair Value of Financial Instruments - Hierarchy (Details) - USD ($) $ in Millions	Mar. 31, 2021	Dec. 31, 2020
Significant Other Observable Inputs (Level 2)
Liabilities:
Fair value of long-term fixed interest rate debt	$ 527.7	$ 549.8
Recurring basis
Assets:
Time deposits and money market funds	151.1	183.2
Short-term investments	50.0	50.0
Interest rate and cross currency swap agreements	7.1	7.6
Forward currency contracts	0.1	2.1
Embedded derivatives in purchase and delivery contracts		0.1
Fixed price commodity contracts	3.8	3.1
Debt securities available for sale	1.2	1.2
Total assets recorded at fair value	213.3	247.3
Liabilities:
Contingent consideration	3.3	4.3
Hybrid instrument liability	13.8	13.9
Interest rate and cross currency swap agreements	33.3	61.5
Embedded derivatives in purchase and delivery contracts	0.3
Forward currency contracts	1.3	0.4
Total liabilities recorded at fair value	52.0	80.1
Recurring basis | Significant Other Observable Inputs (Level 2)
Assets:
Time deposits and money market funds	151.1	183.2
Short-term investments	50.0	50.0
Interest rate and cross currency swap agreements	7.1	7.6
Forward currency contracts	0.1	2.1
Embedded derivatives in purchase and delivery contracts		0.1
Fixed price commodity contracts	3.8	3.1
Total assets recorded at fair value	212.1	246.1
Liabilities:
Interest rate and cross currency swap agreements	33.3	61.5
Embedded derivatives in purchase and delivery contracts	0.3
Forward currency contracts	1.3	0.4
Total liabilities recorded at fair value	34.9	61.9
Recurring basis | Significant Unobservable Inputs (Level 3)
Assets:
Debt securities available for sale	1.2	1.2
Total assets recorded at fair value	1.2	1.2
Liabilities:
Contingent consideration	3.3	4.3
Hybrid instrument liability	13.8	13.9
Total liabilities recorded at fair value	$ 17.1	$ 18.2