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Leases (Details) - USD ($)
$ in Millions
12 Months Ended
Jan. 01, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Operating Leased Assets [Line Items]        
Operating Lease, Weighted Average Remaining Lease Term   5 years    
Lessee, Operating Lease, Renewal Term 5 years      
Operating Lease, Option To Terminate, Term 1 year      
Future minimum lease payments required under leasing arrangements        
Future minimum lease payments, 2020   $ 31.0    
Future minimum lease payments, 2021   27.0    
Future minimum lease payments, 2022   21.0    
Future minimum lease payments, 2023   16.0    
Future minimum lease payments, 2024   13.0    
Future minimum lease payments, Thereafter   21.0    
Rental expense under operating leases   $ 37.0 $ 39.0 $ 32.0
Minimum        
Operating Leased Assets [Line Items]        
Operating Lease, Weighted Average Remaining Lease Term 1 year      
Maximum        
Operating Leased Assets [Line Items]        
Operating Lease, Weighted Average Remaining Lease Term 11 years