Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Operating Loss Carryforwards [Line Items]
Federal income tax at statutory rate (as a percent)	21.00%	21.00%	35.00%
Tax cuts and jobs act of 2017 total transition tax obligation		$ 57,200,000
Tax cuts and jobs act of 2017 related to GILTI provisional income tax expense	$ 0	0.0
Tax cuts and jobs act of 2017 base erosion and anti abuse tax income tax expense	0	400,000
Change in valuation allowance, deferred tax asset	4,500,000	1,300,000
Deferred tax assets, valuation allowance	157,100,000	153,100,000
Tax cuts and jobs act, deferred tax assets	1,800,000	1,700,000
Tax cuts and jobs act, unremitted earnings of non-United States subsidiaries	255,300,000	322,000,000.0
Tax cuts and jobs act, additional unremitted earnings of non-United States subsidiaries	430,900,000
Change to gross unrecognized tax expense (benefits) including interest and penalties	1,700,000	7,600,000	$ 1,700,000
Uncertain tax liabilities interest and penalties	(300,000)	(1,000,000.0)	300,000
Uncertain tax liabilities interest and penalties accrued	6,400,000	6,700,000	7,700,000
Unrecognized tax benefits that would impact effective tax rate	7,200,000	7,200,000	$ 13,100,000
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Interest expense carryforwards	$ 39,500,000
Maximum annual utilization percentage of interest expense carryforwards	30.00%
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 677,400,000
Operating loss carryforwards expiration period	2039
Non-U.S. Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 327,200,000
Net operating loss carryforwards, valuation allowance	160,100,000
U.K
Operating Loss Carryforwards [Line Items]
Deferred tax assets, valuation allowance	12,300,000
Non-U.S.
Operating Loss Carryforwards [Line Items]
Tax cuts and jobs act of 2017 change in net operating losses and valuation allowance	$ 19,900,000	$ 30,400,000