Fair Value of Financial Instruments - Hierarchy (Details) - USD ($) $ in Millions	Jun. 30, 2021	Dec. 31, 2020
Significant Other Observable Inputs (Level 2)
Liabilities:
Fair value of long-term fixed interest rate debt	$ 538.1	$ 549.8
Recurring basis
Assets:
Time deposits and money market funds	33.6	183.2
Short-term investments	97.9	50.0
Interest rate and cross currency swap agreements	6.6	7.6
Forward currency contracts		2.1
Embedded derivatives in purchase and delivery contracts		0.1
Fixed price commodity contracts	2.2	3.1
Debt securities available for sale	1.2	1.2
Total assets recorded at fair value	141.5	247.3
Liabilities:
Contingent consideration	3.7	4.3
Hybrid instrument liability	14.3	13.9
Interest rate and cross currency swap agreements	39.4	61.5
Embedded derivatives in purchase and delivery contracts	0.3
Forward currency contracts	0.6	0.4
Total liabilities recorded at fair value	58.3	80.1
Recurring basis | Significant Other Observable Inputs (Level 2)
Assets:
Time deposits and money market funds	33.6	183.2
Short-term investments	97.9	50.0
Interest rate and cross currency swap agreements	6.6	7.6
Forward currency contracts		2.1
Embedded derivatives in purchase and delivery contracts		0.1
Fixed price commodity contracts	2.2	3.1
Total assets recorded at fair value	140.3	246.1
Liabilities:
Interest rate and cross currency swap agreements	39.4	61.5
Embedded derivatives in purchase and delivery contracts	0.3
Forward currency contracts	0.6	0.4
Total liabilities recorded at fair value	40.3	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	3.7	4.3
Hybrid instrument liability	14.3	13.9
Total liabilities recorded at fair value	$ 18.0	$ 18.2