Leases - Components of Lease Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Leases [Abstract]
Operating lease expense	$ 73.2	$ 71.4	$ 71.0
Finance lease expense	10.4	11.5	12.1
Total lease expense	$ 83.6	$ 82.9	$ 83.1