Revenue - Narrative (Details) - USD ($) $ in Millions			12 Months Ended
	Jan. 01, 2020	Jan. 01, 2018	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Accounting Standards Update [Extensible List]	us-gaap:AccountingStandardsUpdate201613Member	us-gaap:AccountingStandardsUpdate201409Member	us-gaap:AccountingStandardsUpdate201613Member	us-gaap:AccountingStandardsUpdate201613Member	us-gaap:AccountingStandardsUpdate201602Member	us-gaap:AccountingStandardsUpdate201409Member
Equity change due to ASU			$ (1,390.3)	$ (1,312.5)	$ (1,157.6)	$ (1,190.8)
Retained Earnings
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Equity change due to ASU			$ (2,762.4)	(2,734.5)	(2,613.8)	(2,511.3)
Adjustment
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Equity change due to ASU				2.5	(0.1)	2.3
Adjustment | Retained Earnings
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Equity change due to ASU				$ 2.5	$ (0.1)	$ 2.3
Adjustment | Retained Earnings | Accounting Standards Update 2014-09
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Equity change due to ASU		$ 2.3