Pension and Other Postretirement Benefit Plans - Reconciliation of Change in Benefit Obligation, Change in Plan Assets and Amounts Recognized in Consolidated Balance Sheet (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Pension | U.S.
Change in benefit obligation:
Benefit obligation at beginning of period	$ 500.8	$ 438.0
Service cost	0.1	0.1	$ 0.1
Interest cost	16.4	18.6	19.8
Amendment	0.0	0.0
Actuarial loss	66.4	63.0
Benefits paid	(19.3)	(18.9)
Benefits paid — settlements	0.0	0.0
Curtailment	0.0	0.0
Translation adjustment	0.0	0.0
Benefit obligation at end of period	564.4	500.8	438.0
Change in plan assets:
Fair value of plan assets at beginning of period	376.6	330.6
Actual return on plan assets	41.7	61.5
Employer contributions	19.2	3.4
Benefits paid	(19.3)	(18.9)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	418.2	376.6	330.6
Funded status	(146.2)	(124.2)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.1
Accrued liabilities	(2.5)	(2.6)
Other long-term liabilities	(143.7)	(121.7)
Pension | Foreign
Change in benefit obligation:
Benefit obligation at beginning of period	504.3	437.1
Service cost	5.0	6.3	6.9
Interest cost	12.2	14.7	14.7
Amendment	0.0	0.0
Actuarial loss	39.9	55.8
Benefits paid	(20.0)	(21.5)
Benefits paid — settlements	(29.2)	0.0
Curtailment	0.0	(2.4)
Translation adjustment	17.0	14.3
Benefit obligation at end of period	529.2	504.3	437.1
Change in plan assets:
Fair value of plan assets at beginning of period	396.8	351.8
Actual return on plan assets	19.8	42.3
Employer contributions	7.7	6.6
Benefits paid	(20.0)	(21.5)
Benefits paid — settlements	(29.2)	0.0
Translation adjustment	7.9	17.6
Fair value of plan assets at end of period	383.0	396.8	351.8
Funded status	(146.2)	(107.5)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	9.1	23.8
Accrued liabilities	(3.2)	(3.3)
Other long-term liabilities	(152.1)	(128.0)
Other Postretirement | U.S.
Change in benefit obligation:
Benefit obligation at beginning of period	55.4	52.4
Service cost	0.0	0.0	0.0
Interest cost	1.7	2.1	1.9
Amendment	0.4	0.0
Actuarial loss	6.9	4.5
Benefits paid	(3.2)	(3.6)
Benefits paid — settlements	0.0	0.0
Curtailment	0.0	0.0
Translation adjustment	0.0	0.0
Benefit obligation at end of period	61.2	55.4	52.4
Change in plan assets:
Fair value of plan assets at beginning of period	0.0	0.0
Actual return on plan assets	0.0	0.0
Employer contributions	3.2	3.6
Benefits paid	(3.2)	(3.6)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	0.0	0.0	0.0
Funded status	(61.2)	(55.4)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(4.0)	(3.9)
Other long-term liabilities	(57.2)	(51.5)
Other Postretirement | Foreign
Change in benefit obligation:
Benefit obligation at beginning of period	25.6	34.3
Service cost	0.0	0.3	0.4
Interest cost	0.7	1.3	1.4
Amendment	0.0	0.0
Actuarial loss	2.1	0.4
Benefits paid	(1.5)	(1.3)
Benefits paid — settlements	0.0	0.0
Curtailment	0.0	(10.9)
Translation adjustment	0.5	1.5
Benefit obligation at end of period	27.4	25.6	34.3
Change in plan assets:
Fair value of plan assets at beginning of period	0.0	0.0
Actual return on plan assets	0.0	0.0
Employer contributions	1.5	1.3
Benefits paid	(1.5)	(1.3)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	0.0	0.0	$ 0.0
Funded status	(27.4)	(25.6)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(1.5)	(1.4)
Other long-term liabilities	$ (25.9)	$ (24.2)