Restructuring - Restructuring Expense (Details) - USD ($) $ in Millions	3 Months Ended				9 Months Ended
	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Restructuring Reserve [Roll Forward]
Charged to Earnings	$ 1.1			$ 9.0	$ 3.1	$ 13.1
2020 restructuring plan
Restructuring Reserve [Roll Forward]
Cumulative amount of restructuring costs, beginning balance			$ 10.2		10.2
Charged to Earnings	1.2	$ 1.6	1.2		4.0
Cumulative amount of restructuring costs, ending balance	14.2				14.2
2020 restructuring plan | Severance and related expense
Restructuring Reserve [Roll Forward]
Cumulative amount of restructuring costs, beginning balance			7.0		7.0
Charged to Earnings	0.2	0.8	0.2		1.2
Cumulative amount of restructuring costs, ending balance	8.2				8.2
2020 restructuring plan | Inventory write-off
Restructuring Reserve [Roll Forward]
Cumulative amount of restructuring costs, beginning balance			1.9		1.9
Charged to Earnings	0.0	0.0	0.0
Cumulative amount of restructuring costs, ending balance	1.9				1.9
2020 restructuring plan | Employee overlap costs
Restructuring Reserve [Roll Forward]
Cumulative amount of restructuring costs, beginning balance			0.3		0.3
Charged to Earnings	0.7	0.3	0.4		1.4
Cumulative amount of restructuring costs, ending balance	1.7				1.7
2020 restructuring plan | Retention bonus
Restructuring Reserve [Roll Forward]
Cumulative amount of restructuring costs, beginning balance			0.3		0.3
Charged to Earnings	0.1	0.0	0.4		0.5
Cumulative amount of restructuring costs, ending balance	0.8				0.8
2020 restructuring plan | Other
Restructuring Reserve [Roll Forward]
Cumulative amount of restructuring costs, beginning balance			0.7		0.7
Charged to Earnings	0.2	$ 0.5	$ 0.2		0.9
Cumulative amount of restructuring costs, ending balance	$ 1.6				$ 1.6