Equity Incentive Program - Share Based Compensation Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Document Fiscal Year Focus	2020
Pre-tax compensation expense	$ 17.3	$ 25.2	$ 27.0
Tax benefit	0.0	0.0	0.0
Total stock-based compensation expense, net of tax	17.3	25.2	27.0
Selling and Administrative Expenses
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Pre-tax compensation expense	9.4	16.0	17.6
Research and Development Expense
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Pre-tax compensation expense	6.2	7.7	7.8
Cost of Sales
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Pre-tax compensation expense	1.7	$ 1.5	$ 1.6
Share-based Payment Arrangement, Option [Member]
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount	4.7
Performance Shares [Member]
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount	$ 3.0
Maximum [Member] | Share-based Payment Arrangement, Option [Member]
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate	40.60%	42.90%