Restructuring Costs - Summary of Changes in Restructuring Reserve (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning balance	$ 22.2	$ 25.8
Expense	(1.1)	0.8
Paid/Utilized	(9.9)	(4.9)
Restructuring reserve, ending balance	11.2	21.7
Severance and benefits
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning balance	21.6	24.6
Expense	(1.5)	0.1
Paid/Utilized	(9.5)	(4.2)
Restructuring reserve, ending balance	10.6	20.5
Lease and contract terminations
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning balance	0.0	0.0
Expense	0.0	0.0
Paid/Utilized	0.0	0.0
Restructuring reserve, ending balance	0.0	0.0
Vacant facility and other shutdown costs
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning balance	0.6	1.2
Expense	0.0	0.6
Paid/Utilized	0.0	(0.6)
Restructuring reserve, ending balance	0.6	1.2
Start-up and moving costs
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning balance	0.0	0.0
Expense	0.4	0.1
Paid/Utilized	(0.4)	(0.1)
Restructuring reserve, ending balance	$ 0.0	$ 0.0