Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns
Unrecognized tax benefits at beginning of period	$ 71.2	$ 81.4	$ 90.3
Additions based upon prior year tax positions	2.7	1.4	2.7
Additions based on current year tax positions	14.5	3.2	3.1
Reductions for prior period positions	(0.2)	(7.6)	(6.9)
Reductions for settlements and payments	(1.1)	(2.1)	(4.3)
Reductions due to closed statutes	(4.6)	(5.1)	(3.5)
Total unrecognized tax benefits at end of period	$ 82.5	$ 71.2	$ 81.4