Pension Plans and Other Retirement Plans (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Pension plans and other postretirement benefit plans
Defined Benefit Plan, Benefit Obligation, Payment for Settlement, Lump Sum Distribution		$ 42.2
Defined Benefit Plan, Benefit Obligation, (Increase) Decrease for Settlement, Lump Sum Distribution		43.5
Defined Benefit Plan, Benefit Obligation, (Increase) Decrease for Settlement, Gain, Lump Sum Distribution		1.3
Defined Benefit Plan, Benefit Obligation, Payment for Settlement, Annuity Settlement		116.4
Defined Benefit Plan, Benefit Obligation, (Increase) Decrease for Settlement, Annuity Settlement		117.4
Defined Benefit Plan, Benefit Obligation, (Increase) Decrease for Settlement, Gain, Annuity Settlement		1.0
Funded status of fully funded, underfunded, and unfunded pension plans:
Overfunded defined benefit pension plans	$ 8.5	5.7
Unfunded defined benefit pension plans	(519.8)	(433.1)
Pension liabilities included in other current liabilities	(14.8)	(14.7)
Net funded status	(526.1)	(442.1)
Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Overfunded defined benefit pension plans	8.5	5.7
Net funded status	(526.1)	(442.1)
Defined Benefit Plan, Benefit Obligation	1,507.0	1,332.7	$ 1,648.7
Enhanced Defined Contribution Plans [Member]
Defined contribution retirement plan
Defined Contribution Plan, Cost	3.7	1.9	0.8
Underfunded Plan [Member]
Funded status of fully funded, underfunded, and unfunded pension plans:
Unfunded defined benefit pension plans	(85.2)	(67.1)
Unfunded Plan [Member]
Funded status of fully funded, underfunded, and unfunded pension plans:
Unfunded defined benefit pension plans	(434.6)	(366.0)
Foreign Plan [Member] | Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Overfunded defined benefit pension plans	0.0	0.0
Net funded status	(344.0)	(286.1)
Defined Benefit Plan, Benefit Obligation	$ 369.2	$ 305.6	323.1
Defined Benefit Plan, Assumptions Used Calculating Benefit Obligation, Discount Rate	1.41%	2.17%
Foreign Plan [Member] | Underfunded Plan [Member] | Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Net funded status	$ (3.8)	$ (3.2)
Defined Benefit Plan, Benefit Obligation	29.0	22.7
Foreign Plan [Member] | Unfunded Plan [Member] | Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Net funded status	(340.2)	(282.9)
Defined Benefit Plan, Benefit Obligation	$ 340.2	282.9
UNITED STATES
Defined contribution retirement plan
Percentage that the employer contributes of employee contributions under 401(k) plan	100.00%
Defined Contribution Plan, Cost	$ 13.9	12.6	11.5
Maximum percentage of employee compensation match by employer to defined contribution plan	6.00%
UNITED STATES | Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Overfunded defined benefit pension plans	$ 8.5	5.7
Net funded status	(182.1)	(156.0)
Defined Benefit Plan, Benefit Obligation	$ 1,137.8	$ 1,027.1	$ 1,325.6
Defined Benefit Plan, Assumptions Used Calculating Benefit Obligation, Discount Rate	3.13%	4.22%
UNITED STATES | Enhanced Defined Contribution Plans [Member]
Defined contribution retirement plan
Maximum percentage of employee compensation match by employer to defined contribution plan	4.00%
UNITED STATES | Underfunded Plan [Member] | Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Net funded status	$ (82.3)	$ (64.6)
Defined Benefit Plan, Benefit Obligation	993.8	897.6
UNITED STATES | Unfunded Plan [Member] | Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Net funded status	(108.3)	(97.1)
Defined Benefit Plan, Benefit Obligation	108.3	97.1
UNITED STATES | Overfunded Plan [Member] | Pension Plans
Funded status of fully funded, underfunded, and unfunded pension plans:
Net funded status	8.5	5.7
Defined Benefit Plan, Benefit Obligation	$ 35.6	$ 32.4