Guarantees - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Product Warranty Liability [Line Items]
Revenue deferred related to buyback obligations included in other current and non-current liabilities	$ 40.9	$ 35.9
Amount of residual value buyback commitments and given by the company	33.5	31.7
Amount of loss guarantees with maximum liabilities	30.7	31.8
Revenue deferred related to extended warranties included in other current and non-current liabilities	$ 6.3	6.2
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]
Revenue deferred related to extended warranties included in other current and non-current liabilities	$ 12.5	$ 13.0