Retirement and Other Postretirement Benefit Plans - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Defined Benefit Retirement Plans
Amounts recognized on the balance sheet:
Amounts unrelated to service costs, expense (credit)	$ 0.2	$ (0.5)
Defined Benefit Retirement Plans | U.S.
Amounts recognized on the balance sheet:
Employer contribution to defined benefit retirement plans	0.2	0.1
Expected employer contribution in full current year	3.4
Net amortization gain deferral	$ (0.2)	$ (0.1)
Defined Benefit Plan, Tax Status [Extensible List]	Non-qualified	Non-qualified	Non-qualified
Defined Benefit Retirement Plans | European
Amounts recognized on the balance sheet:
Employer contribution to defined benefit retirement plans	$ 1.1	$ 1.0
Expected employer contribution in full current year	5.6
Net amortization gain deferral	(0.3)	(0.1)
Postretirement Health Care and Life Insurance Benefit Plans
Amounts recognized on the balance sheet:
Expected employer contribution in full current year	0.4
Net amortization gain deferral	$ 0.2	$ 0.2