Income Taxes - Deferred Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2019	Dec. 31, 2018
Deferred Tax Assets:
Allowance for doubtful accounts	$ 16.7	$ 17.4
Operating lease liabilities	44.4
Inventories	16.6	17.9
Pension benefits	30.3	27.3
Environmental and regulatory compliance	10.4	10.1
Other accruals and prepayments	35.2	50.5
Deferred service income	15.1	7.1
Warranty services	16.0	19.7
Stock-based compensation expense	27.8	14.2
Tax credit and loss carryforwards	171.4	131.4
Valuation allowances	(58.4)	(40.3)
Total deferred tax assets	325.5	255.3
Deferred Tax Liabilities:
Property, plant and equipment	(47.3)	(11.7)
Operating lease right-of-use assets	(43.7)
Insurance, including self-insurance	(200.5)	(155.2)
Goodwill and other intangibles	(722.0)	(597.1)
Other	(26.7)	(14.7)
Total deferred tax liabilities	(1,040.2)	(778.7)
Net deferred tax liability	$ (714.7)	$ (523.4)