Retirement and Other Postretirement Benefit Plans - Schedule of Net Periodic Benefit Costs of Defined Benefit Retirement Plans (Details) - Defined Benefit Retirement Plans - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2020	Jun. 30, 2019	Jun. 30, 2020	Jun. 30, 2019	Dec. 31, 2019
U.S.
Net periodic benefit costs of defined benefit retirement plans
Service cost	$ 0.3	$ 0.3	$ 0.6	$ 0.6
Interest cost	0.1	0.1	0.2	0.3
Net amortization and deferral	0.1		0.2
Net periodic benefit (credit) cost	$ 0.5	$ 0.4	$ 1.0	$ 0.9
Defined Benefit Plan, Tax Status [Extensible List]	us-gaap:NonqualifiedPlanMember	us-gaap:NonqualifiedPlanMember	us-gaap:NonqualifiedPlanMember	us-gaap:NonqualifiedPlanMember	us-gaap:NonqualifiedPlanMember
European
Net periodic benefit costs of defined benefit retirement plans
Service cost	$ 0.3	$ 0.2	$ 0.5	$ 0.5
Interest cost	0.8	1.1	1.7	2.2
Expected return on plan assets	(1.7)	(2.2)	(3.4)	(4.4)
Net amortization and deferral	0.1	0.1	0.2	0.2
Net periodic benefit (credit) cost	$ (0.5)	$ (0.8)	$ (1.0)	$ (1.5)