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Derivative Financial Instruments and Risk Management - Narrative (Details) $ in Millions	9 Months Ended
	Sep. 30, 2020 USD ($)	Sep. 30, 2019 USD ($)	May 31, 2020 USD ($) derivative	Mar. 31, 2020 USD ($) derivative	Dec. 31, 2019 USD ($)	Jan. 31, 2016 USD ($) derivative
Derivatives, Fair Value [Line Items]
Fair value of derivative asset	$ 9.0				$ 12.0
Not Designated as Hedging Instrument \| Foreign Exchange Contract
Derivatives, Fair Value [Line Items]
Derivative, term of contract (less than)	2 years
Notional amount	$ 532.5
Net Investment Hedging \| Designated as Hedging Instrument \| Interest Rate Swap
Derivatives, Fair Value [Line Items]
Cross currency swap amount	116.4
Net investment hedge recorded in other comprehensive income (loss)	3.4
Cash Flow Hedging \| Designated as Hedging Instrument
Derivatives, Fair Value [Line Items]
Accumulated other comprehensive income (loss)	4.4
Cash Flow Hedging \| Designated as Hedging Instrument \| Interest Rate Swap
Derivatives, Fair Value [Line Items]
Number of derivative instruments held \| derivative			1			1
Cross currency swap amount						$ 50.0
Cash Flow Hedging \| Designated as Hedging Instrument \| Forward Starting Interest Rate Swap
Derivatives, Fair Value [Line Items]
Number of derivative instruments held \| derivative				4
Cross currency swap amount			$ 50.0	$ 200.0
Other Current Assets \| Cash Flow Hedging \| Designated as Hedging Instrument \| Interest Rate Swap
Derivatives, Fair Value [Line Items]
Fair value of derivative asset	0.2
Other Assets \| Net Investment Hedging \| Designated as Hedging Instrument \| Interest Rate Swap
Derivatives, Fair Value [Line Items]
Net investment hedge recorded in other comprehensive income (loss)	4.6
Other Assets \| Cash Flow Hedging \| Designated as Hedging Instrument \| Interest Rate Swap
Derivatives, Fair Value [Line Items]
Fair value of derivative asset	5.8
Interest Expense \| Net Investment Hedging \| Designated as Hedging Instrument \| Interest Rate Swap
Derivatives, Fair Value [Line Items]
Gain (loss) recorded in interest expense	$ 2.2	$ 2.2