Property, Plant and Equipment - Property, Plant and Equipment (Details) - USD ($) $ in Millions	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	$ 1,358.2	$ 1,465.9
Less: accumulated depreciation	(838.7)	(889.8)
Property, plant and equipment, net	519.5	576.1	$ 610.4
Land and improvements
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	63.4	63.1
Buildings and leasehold improvements
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	363.8	343.6
Machinery and equipment
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	$ 931.0	$ 1,059.2