Benefit Plans - Recognized as Component of Accumulated Other Comprehensive (Loss) Income (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Pension Benefits
Amounts Recognized as a Component of Accumulated Other Comprehensive (Loss) Income [Abstract]
Estimated amount of net losses to be amortized from accumulated other comprehensive (loss) income into net periodic benefit cost	$ 5,600,000
Estimated amount of prior service costs to be amortized from accumulated other comprehensive (loss) income into net periodic benefit cost	100,000
Pension Benefits | U.S. Plans
Amounts Recognized as a Component of Accumulated Other Comprehensive (Loss) Income [Abstract]
Net actuarial losses (gains)	(800,000)	$ 5,700,000
Prior service cost	0	0
Amounts included in accumulated other comprehensive income (loss)	(800,000)	5,700,000
Pension Benefits | Non-U.S. Plans
Amounts Recognized as a Component of Accumulated Other Comprehensive (Loss) Income [Abstract]
Net actuarial losses (gains)	75,700,000	58,800,000
Prior service cost	3,200,000	3,500,000
Amounts included in accumulated other comprehensive income (loss)	78,900,000	62,300,000
Other Postretirement Benefits
Amounts Recognized as a Component of Accumulated Other Comprehensive (Loss) Income [Abstract]
Net actuarial losses (gains)	2,400,000	200,000
Prior service cost	(1,600,000)	0
Amounts included in accumulated other comprehensive income (loss)	800,000	$ 200,000
Estimated amount of net losses to be amortized from accumulated other comprehensive (loss) income into net periodic benefit cost	0
Estimated amount of prior service costs to be amortized from accumulated other comprehensive (loss) income into net periodic benefit cost	$ 0