Retirement and Other Postretirement Benefit Plans - Schedule of Amounts Recognized on Balance Sheet (Details) - USD ($) $ in Millions	Sep. 30, 2020	Dec. 31, 2019	Sep. 30, 2019
Amounts recognized on the balance sheet:
Other non-current liabilities	$ 55.5	$ 53.3
Defined Benefit Retirement Plans | U.S.
Amounts recognized on the balance sheet:
Accrued liabilities	1.3	1.4
Other non-current liabilities	19.4	18.9
Total accrued benefit	$ 20.7	$ 20.3
Defined Benefit Plan, Tax Status [Extensible List]	us-gaap:NonqualifiedPlanMember	us-gaap:NonqualifiedPlanMember	us-gaap:NonqualifiedPlanMember
Defined Benefit Retirement Plans | European
Amounts recognized on the balance sheet:
Other assets	$ 45.7	$ 45.2
Accrued liabilities	1.7	0.6
Other non-current liabilities	19.3	18.9
Total accrued benefit	21.0	19.5
Postretirement Health Care and Life Insurance Benefit Plans
Amounts recognized on the balance sheet:
Accrued liabilities	0.5	0.5
Other non-current liabilities	2.6	2.6
Total accrued benefit	$ 3.1	$ 3.1