Restructuring Activities - Summary of Restructuring Activities (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Restructuring Cost and Reserve [Line Items]
Other associated costs	$ 5.4	$ 7.2	$ 15.5	$ 15.0
Restructuring charges	2.4	1.0	4.5	11.7
Total charges	7.8	8.2	20.0	26.7
Capital expenditures	1.7	0.2	5.0	0.4
Continuing Operations
Restructuring Cost and Reserve [Line Items]
Other associated costs	5.4	7.2	15.5	15.0
Restructuring charges	$ 2.4	$ 1.0	$ 4.5	$ 11.7