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Restructuring - Restructuring Reserve (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Restructuring Reserve [Roll Forward]      
Beginning Balance $ 102.7 $ 71.5 $ 66.1
Expense recorded 34.4 79.8 36.2
Payments made (57.3) (46.4) (36.1)
Foreign currency translation 1.8 2.2 6.8
Venezuela deconsolidation impact     (1.5)
Ending Balance $ 78.0 $ 102.7 $ 71.5