Restructuring - Restructuring Expense (Details) - USD ($) $ in Millions	3 Months Ended			9 Months Ended
	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2020	Dec. 31, 2019
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs	$ 85.2			$ 85.2	$ 71.0
Restructuring charges	9.0	$ 2.2	$ 3.0	12.3
Inventory Write-off
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs	1.9			1.9
Restructuring Plan, 2018 | Severance and related expense
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs	27.7			27.7	25.4
Restructuring charges	0.0	0.1	2.2	2.3
Restructuring Plan, 2018 | Other
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs	46.4			46.4	45.6
Restructuring charges	0.2	0.5	0.1	0.8
Restructuring Plan, 2020 | Severance and related expense
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs	5.9			5.9	0.0
Restructuring charges	5.9	0.0	0.0	5.9
Restructuring Plan, 2020 | Inventory Write-off
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs					0.0
Restructuring charges	1.9	0.0	0.0
Restructuring Plan, 2020 | Other
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs	0.7			0.7	0.0
Restructuring charges	0.7	0.0	0.0	0.7
Restructuring Plan, Other | Severance and related expense
Restructuring Cost and Reserve [Line Items]
Cumulative amount of restructuring costs	2.6			2.6	$ 0.0
Restructuring charges	$ 0.3	$ 1.6	$ 0.7	$ 2.6