Pension Plans and Other Retirement Plans (Details 3) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Funded Status of Pension Plans
Net funded status	$ (526.1)	$ (442.1)
Benefit Payments
Defined Benefit Plan, Expected Future Benefit Payment, Next Twelve Months	90.7
Defined Benefit Plan, Expected Future Benefit Payment, Year Two	85.9
Defined Benefit Plan, Expected Future Benefit Payment, Year Three	85.2
Defined Benefit Plan, Expected Future Benefit Payment, Year Four	84.6
Defined Benefit Plan, Expected Future Benefit Payment, Year Five	84.1
Defined Benefit Plan, Expected Future Benefit Payment, Five Fiscal Years Thereafter	405.4
Pension Plans
Funded Status of Pension Plans
Projected benefit obligation	1,507.0	1,332.7	$ 1,648.7
Defined Benefit Plan, Plan Assets, Amount	980.9	890.6	1,131.3
Net funded status	(526.1)	(442.1)
Defined Benefit Plan, Accumulated Benefit Obligation	1,423.0	1,263.0
Pension Plans with Underfunded or Unfunded Accumulated Benefit Obligation
Projected benefit obligation	1,444.2	1,279.3
Accumulated benefit obligation	1,365.3	1,213.3
Fair value of plan assets	$ 912.4	$ 833.7
Pension Plans | UNITED STATES
Pension plans and other postretirement benefit plans
Defined Benefit Plan, Plan Assets, Target Allocation, Percentage	100.00%
Defined Benefit Plan, Plan Assets, Actual Allocation, Percentage	100.00%	100.00%
Funded Status of Pension Plans
Projected benefit obligation	$ 1,137.8	$ 1,027.1	1,325.6
Defined Benefit Plan, Plan Assets, Amount	955.7	871.1	1,109.8
Net funded status	(182.1)	(156.0)
Pension Plans with Underfunded or Unfunded Accumulated Benefit Obligation
Projected benefit obligation	1,102.1	994.8
Accumulated benefit obligation	1,058.6	960.1
Fair value of plan assets	911.6	$ 833.0
Benefit Payments
Defined Benefit Plan, Expected Future Benefit Payment, Next Twelve Months	82.4
Defined Benefit Plan, Expected Future Benefit Payment, Year Two	77.5
Defined Benefit Plan, Expected Future Benefit Payment, Year Three	76.5
Defined Benefit Plan, Expected Future Benefit Payment, Year Four	75.6
Defined Benefit Plan, Expected Future Benefit Payment, Year Five	74.8
Defined Benefit Plan, Expected Future Benefit Payment, Five Fiscal Years Thereafter	$ 352.0
Discount rate	3.13%	4.22%
Expected return on plan assets	5.75%	5.25%
Average annual returns over one year (as a percent)	19.00%
Average annual returns over three years (as a percent)	8.00%
Average annual returns over five years (as a percent)	6.00%
Average annual returns over ten years (as a percent)	8.00%
Pension Plans | Germany
Benefit Payments
Discount rate	1.25%
Percentage of German pension plans to total non-U.S. pension plans	91.00%	92.00%
Pension Plans | Foreign Plan [Member]
Funded Status of Pension Plans
Projected benefit obligation	$ 369.2	$ 305.6	323.1
Defined Benefit Plan, Plan Assets, Amount	25.2	19.5	$ 21.5
Net funded status	(344.0)	(286.1)
Pension Plans with Underfunded or Unfunded Accumulated Benefit Obligation
Projected benefit obligation	342.1	284.5
Accumulated benefit obligation	306.7	253.2
Fair value of plan assets	0.8	$ 0.7
Benefit Payments
Defined Benefit Plan, Expected Future Benefit Payment, Next Twelve Months	8.3
Defined Benefit Plan, Expected Future Benefit Payment, Year Two	8.4
Defined Benefit Plan, Expected Future Benefit Payment, Year Three	8.7
Defined Benefit Plan, Expected Future Benefit Payment, Year Four	9.0
Defined Benefit Plan, Expected Future Benefit Payment, Year Five	9.3
Defined Benefit Plan, Expected Future Benefit Payment, Five Fiscal Years Thereafter	$ 53.4
Discount rate	1.41%	2.17%
Expected return on plan assets	4.43%	4.69%
Pension Plans | Overfunded Plan [Member] | UNITED STATES
Funded Status of Pension Plans
Projected benefit obligation	$ 35.6	$ 32.4
Defined Benefit Plan, Plan Assets, Amount	44.1	38.1
Net funded status	8.5	5.7
Pension Plans | Unfunded Plan [Member] | UNITED STATES
Funded Status of Pension Plans
Projected benefit obligation	108.3	97.1
Net funded status	(108.3)	(97.1)
Pension Plans | Unfunded Plan [Member] | Foreign Plan [Member]
Funded Status of Pension Plans
Projected benefit obligation	340.2	282.9
Net funded status	(340.2)	(282.9)
Pension Plans | Underfunded Plan [Member] | UNITED STATES
Funded Status of Pension Plans
Projected benefit obligation	993.8	897.6
Defined Benefit Plan, Plan Assets, Amount	911.5	833.0
Net funded status	(82.3)	(64.6)
Pension Plans | Underfunded Plan [Member] | Foreign Plan [Member]
Funded Status of Pension Plans
Projected benefit obligation	29.0	22.7
Defined Benefit Plan, Plan Assets, Amount	25.2	19.5
Net funded status	$ (3.8)	$ (3.2)