Retirement and Deferred Compensation Plans - Schedule of Fair Value of Pension Plan Assets by Asset Category (Details) - Pension Plan - USD ($) $ in Millions	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 242.6	$ 214.8	$ 153.9
Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	753.6	655.4	354.1
Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	157.6	125.8
Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	353.4	314.8
Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	242.6	214.8
United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		38.8	$ 36.1
United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		7.8
United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		31.0
United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Cash and cash equivalents | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	16.1	5.5
Cash and cash equivalents | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	16.1	5.5
Cash and cash equivalents | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Cash and cash equivalents | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Cash and cash equivalents | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		5.8
Cash and cash equivalents | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Cash and cash equivalents | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		5.8
Cash and cash equivalents | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Mutual funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	116.1	98.0
Mutual funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	116.1	98.0
Mutual funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Mutual funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Mutual funds | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		7.8
Mutual funds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		7.8
Mutual funds | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Mutual funds | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Common stock | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	25.4	22.3
Common stock | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	25.4	22.3
Common stock | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Common stock | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Common stock | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Common stock | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Common stock | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Common stock | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Fixed income funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	185.6	160.0
Fixed income funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Fixed income funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	185.6	160.0
Fixed income funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Fixed income funds | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		25.2
Fixed income funds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Fixed income funds | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		25.2
Fixed income funds | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Annuity contract | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	56.2	52.5
Annuity contract | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Annuity contract | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Annuity contract | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	56.2	52.5
Annuity contract | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Annuity contract | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Annuity contract | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Annuity contract | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Bonds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	41.4	37.0
Bonds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Bonds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	41.4	37.0
Bonds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Bonds | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Bonds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Bonds | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Bonds | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Guaranteed insurance contracts | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	21.0	18.5
Guaranteed insurance contracts | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Guaranteed insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	21.0	18.5
Guaranteed insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Guaranteed insurance contracts | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Guaranteed insurance contracts | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Guaranteed insurance contracts | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Guaranteed insurance contracts | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Insurance contracts | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	157.8	130.6
Insurance contracts | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	157.8	130.6
Insurance contracts | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Insurance contracts | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Insurance contracts | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Insurance contracts | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Real estate funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	92.1	93.3
Real estate funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Real estate funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	90.8	87.3
Real estate funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	1.3	6.0
Real estate funds | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Real estate funds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Real estate funds | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Real estate funds | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Hedge funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	32.0	29.3
Hedge funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Hedge funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	11.4	9.6
Hedge funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	20.6	19.7
Hedge funds | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Hedge funds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Hedge funds | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Hedge funds | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Other | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	9.9	8.4
Other | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Other | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	3.2	2.4
Other | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 6.7	6.0
Other | United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Other | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Other | United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Other | United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		$ 0.0