Property, Plant and Equipment - Property, Plant and Equipment (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	$ 337,200,000	$ 327,200,000
Less: accumulated depreciation	(240,400,000)	(225,300,000)
Property, plant and equipment, net (a)	96,800,000	101,900,000
Interest capitalized	0	0
Depreciation and amortization expense	49,300,000	52,700,000	$ 55,800,000
United States
Property, Plant and Equipment [Line Items]
Property, plant and equipment, net (a)	74,000,000.0	78,500,000
Land and improvements
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	6,100,000	6,200,000
Buildings and leasehold improvements
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	65,500,000	57,300,000
Machinery and equipment
Property, Plant and Equipment [Line Items]
Gross property, plant and equipment	$ 265,600,000	$ 263,700,000