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		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
U.S.
Net periodic benefit costs of defined benefit retirement plans
Service cost	$ 0.3	$ 0.3	$ 0.9	$ 0.9
Interest cost	0.2	0.2	0.4	0.5
Net amortization and deferral			0.2
Net periodic benefit (credit) cost	$ 0.5	$ 0.5	$ 1.5	$ 1.4
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	$ 0.2	$ 0.3	$ 0.7	$ 0.8
Interest cost	0.9	1.1	2.6	3.3
Expected return on plan assets	(1.7)	(2.1)	(5.1)	(6.5)
Net amortization and deferral	0.1		0.3	0.2
Net periodic benefit (credit) cost	$ (0.5)	$ (0.7)	$ (1.5)	$ (2.2)