Guarantees - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2020	Dec. 31, 2019
Product Warranty Liability [Line Items]
Deferred revenue includes buybacks and extended warranties in accounts payable and accrued expenses and non-current liabilities	$ 36.4	$ 38.0
Amount of residual value guarantees and buyback commitments given by the company	$ 27.1	28.5
Standard product warranties, low end of range (in months)	12 months
Standard product warranties, high end of range (in months)	60 months
Other Noncurrent Liabilities
Product Warranty Liability [Line Items]
long-term warranty	$ 12.6	$ 13.4