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Retirement and Deferred Compensation Plans - Schedule of Changes in Fair Value of Pension Assets Measured Using Level 3 Inputs (Details) - Pension Plan - Significant Unobservable Inputs (Level 3) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Defined Benefit Plan Disclosure [Line Items]    
Fair value of plan assets, beginning of year $ 214.8 $ 153.9
Actual return on plan assets 16.4 30.5
Acquisitions   27.6
Purchases, sales and settlements, net (6.3) 2.5
Currency exchange rate changes 17.7 0.3
Fair value of plan assets, end of year $ 242.6 $ 214.8