Pension Benefit Plans (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Retirement Benefits [Abstract]
Service cost	$ 1.5	$ 1.4
Interest cost	1.5	1.8
Expected return on plan assets	(2.7)	(2.2)
Amortization of prior service cost	0.1	0.0
Recognized actuarial loss	2.1	1.5
Other	(0.2)	0.0
Settlements and curtailments	0.7	0.0
Net periodic benefit cost	$ 3.0	$ 2.5