Restructuring and Other Related Charges - Charges Included in Statement of Earnings (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 4.9	$ 6.2	$ 2.5
Cost of sales
Restructuring Cost and Reserve [Line Items]
Restructuring charges	0.2	2.0	0.4
Selling, general and administrative expenses
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 4.7	$ 4.2	$ 2.1