Income Taxes - Deferred Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
Deferred Tax Assets:
Allowance for doubtful accounts	$ 7.5	$ 8.4
Operating lease liabilities	45.6	47.9
Inventories	11.4	12.5
Pension benefits	36.9	32.1
Environmental and regulatory compliance	2.2	4.1
Other accruals and prepayments	30.6	16.5
Deferred service income	5.2	4.6
Warranty services	5.4	3.9
Stock-based compensation expense	29.0	27.9
Tax credit and loss carryforwards	214.8	155.1
Valuation allowances	(73.7)	(47.1)
Total deferred tax assets	314.9	265.9
Deferred Tax Liabilities:
Property, plant and equipment	(43.8)	(46.0)
Operating lease right-of-use assets	(42.6)	(44.3)
Insurance, including self-insurance	(157.3)	(166.8)
Goodwill and other intangibles	(765.1)	(554.4)
Other	(4.0)	(27.6)
Total deferred tax liabilities	(1,012.8)	(839.1)
Net deferred tax liability	$ (697.9)	$ (573.2)