Summary of Significant Accounting Policies - Schedule of Assets and Liabilities Measured and Recorded at Fair Value On Recurring Basis (Details) - Fair value measured on a recurring basis - USD ($) $ in Millions	Dec. 31, 2020	Dec. 31, 2019
Assets
Deferred compensation plan assets	$ 119.4	$ 107.3
Cross-currency swaps	12.1	9.7
Foreign currency forward contracts	1.0	0.0
Total assets measured at fair value	132.5	117.0
Liabilities
Cross-currency swaps	30.5	6.0
Total liabilities measured at fair value	30.5	6.0
Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets
Deferred compensation plan assets	119.4	107.3
Cross-currency swaps	0.0	0.0
Foreign currency forward contracts	0.0	0.0
Total assets measured at fair value	119.4	107.3
Liabilities
Cross-currency swaps	0.0	0.0
Total liabilities measured at fair value	0.0	0.0
Significant Other Observable Inputs (Level 2)
Assets
Deferred compensation plan assets	0.0	0.0
Cross-currency swaps	12.1	9.7
Foreign currency forward contracts	1.0	0.0
Total assets measured at fair value	13.1	9.7
Liabilities
Cross-currency swaps	30.5	6.0
Total liabilities measured at fair value	30.5	6.0
Significant Unobservable Inputs (Level 3)
Assets
Deferred compensation plan assets	0.0	0.0
Cross-currency swaps	0.0	0.0
Foreign currency forward contracts	0.0	0.0
Total assets measured at fair value	0.0	0.0
Liabilities
Cross-currency swaps	0.0	0.0
Total liabilities measured at fair value	$ 0.0	$ 0.0