Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Tax Credit Carryforward [Line Items]
Tax Cuts and Jobs Act, measurement period adjustment income tax benefit			$ 6.0
Income tax credits	$ 27.8	$ 26.9
Loss carryforwards	19.9
Valuation allowance	34.2	29.0
Undistributed earnings of foreign subsidiaries	360.0
Income taxes paid	96.2	91.9	106.3
Unrecognized tax benefits that would impact effective tax rate	38.6
Unrecognized tax benefits timing of deductibility unknown	4.9
Unrecognized tax benefits, income tax penalties and interest expense	0.2	0.1	$ 1.8
Unrecognized tax benefits, income tax penalties and interest accrued	7.3	$ 7.1
Minimum
Tax Credit Carryforward [Line Items]
Decrease in unrecognized tax benefits is reasonably possible, estimated range of change	13.0
Maximum
Tax Credit Carryforward [Line Items]
Decrease in unrecognized tax benefits is reasonably possible, estimated range of change	15.0
Tax credit carryforward indefinitely
Tax Credit Carryforward [Line Items]
Income tax credits	15.7
Loss carryforwards	7.8
Carryforward Subject To Expiration
Tax Credit Carryforward [Line Items]
Income tax credits	12.1
Loss carryforwards	$ 12.1