Other income or expense, net (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Other Income and Expenses [Abstract]
Net foreign currency loss from financing activities	$ (0.8)	$ (1.6)
Income related to defined benefit plans	2.4	2.3
Other income	0.2	0.1
Other income, net	$ 1.8	$ 0.8