Revenue Recognition - Net Sales Disaggregated by Products and Services (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Disaggregation Of Revenue [Line Items]
Total net sales	$ 1,267.8	$ 1,191.3	$ 3,586.5	$ 3,417.7
Commercial Print
Disaggregation Of Revenue [Line Items]
Total net sales	421.7	347.7	1,098.5	986.6
Packaging
Disaggregation Of Revenue [Line Items]
Total net sales	196.8	193.6	550.9	459.1
Direct Marketing
Disaggregation Of Revenue [Line Items]
Total net sales	135.1	125.9	379.6	416.8
Labels
Disaggregation Of Revenue [Line Items]
Total net sales	133.2	124.7	393.2	359.9
Digital Print and Fulfillment
Disaggregation Of Revenue [Line Items]
Total net sales	107.9	104.4	307.1	302.6
Statements
Disaggregation Of Revenue [Line Items]
Total net sales	103.0	104.3	320.8	333.1
Supply Chain Management
Disaggregation Of Revenue [Line Items]
Total net sales	61.8	77.4	201.8	212.0
Forms
Disaggregation Of Revenue [Line Items]
Total net sales	47.1	48.2	144.7	149.2
Business Process Outsourcing
Disaggregation Of Revenue [Line Items]
Total net sales	40.0	40.9	125.4	125.5
Digital and Creative Solutions
Disaggregation Of Revenue [Line Items]
Total net sales	$ 21.2	$ 24.2	$ 64.5	$ 72.9