Restructuring and Related Activities - Costs Recognized and Remaining Costs (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve, Foreign Currency Translation Gain (Loss)		$ (0.3)	$ (0.1)
Document Fiscal Year Focus	2020
Restructuring charges	$ 10.6	6.0	2.1
Restructuring Charges [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	10.0	4.3	1.7
Cost of Goods Sold, Restructuring Charges [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	2.3	1.7	0.4
Severance Pay and Benefits
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve, Foreign Currency Translation Gain (Loss)		0.0	(0.1)
Restructuring charges	9.4	6.0	2.1
Facility Closing [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve, Foreign Currency Translation Gain (Loss)	0.3	(0.3)	0.0
Restructuring charges	$ 1.2	$ 0.0	$ 0.0