Restructuring and Related Activities - Restructuring Accrual Activities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Restructuring Cost and Reserve
Restructuring charges	$ 0.2	$ 3.9
Restructuring Reserve [Roll Forward]
Severance and other restructuring reserve, beginning balance	2.6
Restructuring charges	0.2
Payments	(1.1)
Severance and other restructuring reserve, ending balance	1.7
Severance Pay and Contract Termination and Other Costs
Restructuring Cost and Reserve
Restructuring charges	0.2	5.3
Severance Pay and Benefits
Restructuring Reserve [Roll Forward]
Severance and other restructuring reserve, beginning balance	1.9
Restructuring charges	0.2
Payments	(0.9)
Severance and other restructuring reserve, ending balance	1.2
Contract Termination and Other Costs
Restructuring Reserve [Roll Forward]
Severance and other restructuring reserve, beginning balance	0.7
Restructuring charges	0.0
Payments	(0.2)
Severance and other restructuring reserve, ending balance	0.5
Cost of Goods Sold, Restructuring Charges | Severance Pay and Contract Termination and Other Costs
Restructuring Cost and Reserve
Restructuring charges	0.0	1.4
Operating Expense | Severance Pay and Contract Termination and Other Costs
Restructuring Cost and Reserve
Restructuring charges	$ 0.2
Restructuring Charges | Severance Pay and Contract Termination and Other Costs
Restructuring Cost and Reserve
Restructuring charges		$ 3.9