Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2020	Dec. 31, 2019
Current
Compensation, pension and post retirement benefits	$ 95.9	$ 75.4
Claims, including self-insurance and litigation	21.0	6.4
Taxes, income and other	62.2	11.8
Deferred revenue	87.6	87.0
Sales and product allowances	38.5	35.1
Warranty	37.0	56.6
Other	105.9	47.0
Total	448.1	319.3
Long-term
Compensation, pension and post retirement benefits	17.8	26.7
Claims, including self-insurance and litigation	56.8	55.5
Taxes, income and other	39.0	111.5
Deferred revenue	58.3	63.2
Sales and product allowances	0.0	0.0
Warranty	17.6	0.8
Other	27.7	37.8
Total	$ 217.2	$ 295.5