Stockholders' Deficit - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Jul. 28, 2020	Dec. 31, 2018	Dec. 31, 2017
Class of Stock [Line Items]
Common stock, shares authorized	162,500,000	162,500,000
Common stock, par value (usd per share)	$ 0.01	$ 0.01	$ 0.01
Preferred stock, shares authorized	7,000,000
Accumulated Other Comprehensive Income (Loss), Net of Tax	$ (58.4)	$ (63.5)
Cumulative effect of adoption of ASU 2018-02		0.0
Conversion of Stock, Shares Converted	71,282
Cumulative non-U.S. dollar translation adjustments, net of tax
Class of Stock [Line Items]
Accumulated Other Comprehensive Income (Loss), Net of Tax	$ (20.9)	(28.1)		$ (24.2)	$ (10.4)
Cumulative effect of adoption of ASU 2018-02		(3.7)
Pension and postretirement benefits adjustments, net of tax
Class of Stock [Line Items]
Accumulated Other Comprehensive Income (Loss), Net of Tax	$ (38.7)	(37.0)		$ (45.2)	$ (54.8)
Cumulative effect of adoption of ASU 2018-02		$ (11.4)
D Stock
Class of Stock [Line Items]
Preferred stock, shares authorized	200,000	200,000		200,000	200,000
Preferred stock, shares issued	0	71,282		71,282	71,282
Preferred stock, conversion basis	125
Treasury Stock
Class of Stock [Line Items]
Stock repurchase program, number of shares authorized to be repurchased	12,000,000
Stock repurchase program number of shares repurchased under program	9,842,509
Stock repurchase program, remaining number of shares authorized to be repurchased	2,157,491