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Debt and Other Financing Arrangements - Senior Notes (Details)
12 Months Ended
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2020
EUR (€)
Dec. 14, 2020
Debt Instrument [Line Items]          
Gain (loss) on extinguishment of debt $ 2,000,000 $ 0 $ (10,000,000)    
Debt instrument, redemption price, percentage of principal amount redeemed 100.00%        
Maximum percentage of stock pledged 66.00%     66.00%  
4.875% Euro Fixed Rate Notes due 2022          
Debt Instrument [Line Items]          
Stated rate 4.875%     4.875% 4.875%
Euro Floating Rate Notes due 2024          
Debt Instrument [Line Items]          
Stated rate 5.00%     5.00%  
Senior Notes          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage of principal amount redeemed 100.00%        
Senior Notes | 5 3/8% Senior Notes due 2024          
Debt Instrument [Line Items]          
Stated rate 5.375%     5.375%  
Principal amount $ 225,000,000 225,000,000   € 225,000,000  
Senior Notes | 5.000% Senior Notes due 2026          
Debt Instrument [Line Items]          
Stated rate 5.00%     5.00%  
Principal amount $ 500,000,000 500,000,000   € 500,000,000  
Senior Notes | 5.000% Euro Fixed Rate Notes due 2024          
Debt Instrument [Line Items]          
Stated rate 5.00%     5.00%  
Principal amount $ 428,000,000 392,000,000   € 350,000,000  
Senior Notes | 7.875% Euro Fixed Rate Notes Due 2029          
Debt Instrument [Line Items]          
Stated rate 7.875%     7.875%  
Principal amount $ 500,000,000        
Senior Notes | 4.875% Euro Fixed Rate Notes due 2022          
Debt Instrument [Line Items]          
Stated rate 4.875%     4.875%  
Principal amount $ 0 465,000,000   € 415,000,000  
Debt instrument, redemption price, percentage of principal amount redeemed 100.00%        
Senior Notes | Euro Floating Rate Notes due 2024          
Debt Instrument [Line Items]          
Stated rate 4.875%     4.875%  
Principal amount $ 366,000,000 $ 336,000,000   € 300,000,000  
Line of Credit          
Debt Instrument [Line Items]          
Consolidated fixed coverage ratio 2.00        
Debt Instrument, Redemption, Period One | Senior Notes          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage 40.00%        
Debt Instrument, Redemption, Period One | Senior Notes | 5.000% Euro Fixed Rate Notes due 2024          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage 5.00%        
Debt Instrument, Redemption, Period One | Senior Notes | 7.875% Euro Fixed Rate Notes Due 2029          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage 7.875%        
Debt Instrument, Redemption, Period Two          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage of principal amount redeemed 101.00%        
Debt Instrument, Redemption, Period Two | Senior Notes | 5.000% Euro Fixed Rate Notes due 2024          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage 105.00%        
Debt Instrument, Redemption, Period Two | Senior Notes | 7.875% Euro Fixed Rate Notes Due 2029          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage 107.875%        
Debt Instrument, Redemption, Period Three          
Debt Instrument [Line Items]          
Debt instrument, redemption price, percentage of principal amount redeemed 100.00%        
Debt Instrument, Redemption, Period Four | Senior Notes          
Debt Instrument [Line Items]          
Stated rate 101.00%     101.00%