Property, Plant and Equipment - Major Components of Property, Plant, and Equipment (Details) - USD ($) $ in Millions	Sep. 30, 2021	Dec. 31, 2020
Property, plant and equipment
Total property, plant and equipment	$ 527.6	$ 460.8
Accumulated depreciation	(256.9)	(220.4)
Property, plant and equipment, net	270.7	240.4
Land and leasehold improvements
Property, plant and equipment
Total property, plant and equipment	54.6	53.2
Buildings and improvements
Property, plant and equipment
Total property, plant and equipment	160.9	139.5
Machinery, equipment, fixtures and software
Property, plant and equipment
Total property, plant and equipment	282.4	245.8
Construction in process
Property, plant and equipment
Total property, plant and equipment	$ 29.7	$ 22.3