Restructuring Charges - Changes to Restructuring Liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Restructuring Reserve [Roll Forward]
Charges	$ 19.3	$ 8.9
2020 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	50.7
Charges	19.3
Cash Payments	(45.2)
Other	(2.3)
Restructuring liability, ending balance	22.5
2020 Restructuring Plan | Severance
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	50.7
Charges	14.7
Cash Payments	(45.2)
Other	1.0
Restructuring liability, ending balance	21.2
2020 Restructuring Plan | Facility consolidations
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	0.0
Charges	4.6
Cash Payments	0.0
Other	(3.3)
Restructuring liability, ending balance	$ 1.3