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Debt - Narrative (Details) - USD ($)
$ in Millions
1 Months Ended 6 Months Ended
Mar. 31, 2021
Jun. 30, 2021
Mar. 10, 2021
Dec. 31, 2020
Debt Instrument [Line Items]        
Write off of deferred debt issuance cost   $ 15.3    
Short-term finance leases   1.1    
Revolver        
Debt Instrument [Line Items]        
Maximum borrowing capacity     $ 300.0  
Borrowings outstanding       $ 103.0
Remaining borrowing capacity   255.0   283.0
Replaced Line of Credit        
Debt Instrument [Line Items]        
Letters of credit outstanding, amount   2.2    
2024 Notes | Senior Notes        
Debt Instrument [Line Items]        
Debt instrument, face amount   $ 246.0    
4.375% Senior Notes, due December 2024 | Senior Notes        
Debt Instrument [Line Items]        
Interest rate of debt   4.375%    
Debt issued, percent of par   99.60%    
Effective yield percentage   4.422%    
Redemption price, percentage   100.00%    
Rate of interest discounted   0.30%    
4.500% Senior Notes, due March 2029 | Senior Notes        
Debt Instrument [Line Items]        
Debt instrument, face amount   $ 500.0    
Interest rate of debt   4.50%    
Debt issued, percent of par 100.00%      
Effective yield percentage   4.50%    
Redemption price, percentage   100.00%    
4.500% Senior Notes, due March 2029 | Senior Notes | Debt Instrument, Redemption, Period One        
Debt Instrument [Line Items]        
Redemption price, percentage   104.50%    
Redemption price, percentage of principal amount redeemed   40.00%    
Letter of Credit        
Debt Instrument [Line Items]        
Letters of credit outstanding, amount   $ 11.4   13.9
European Lease Agreement | Replaced Line of Credit        
Debt Instrument [Line Items]        
Letters of credit outstanding, amount       $ 1.6
Long-term debt, maturities, repayments of principal in 2024   476.0    
Long-term debt, maturities, repayments of principal in 2026   33.3    
Long-term debt, maturities, repayments of principal in 2029   $ 500.0    
Maximum | Receivables Securitization Program        
Debt Instrument [Line Items]        
Debt instrument, face amount     $ 450.0