CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Millions	Sep. 30, 2021	Dec. 31, 2020
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 42.6	$ 56.2
Property, plant and equipment, accumulated depreciation	668.7	629.7
Intangible assets, accumulated amortization	$ 718.8	$ 641.6
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01
Common stock, authorized (in shares)	120,000,000.0	120,000,000.0
Common stock, issued (in shares)	91,800,000	91,600,000
Common stock, outstanding (in shares)	91,800,000	91,600,000