Leases, Operating lease maturity table and account balances (Details) - USD ($) $ in Millions	Dec. 31, 2020	Dec. 31, 2019
Leases
2021	$ 72.7
2022	48.8
2023	37.0
2024	27.6
2025	17.6
Thereafter	43.1
Total future minimum lease payments	246.8
Less imputed interest	(17.7)
Total operating lease liabilities	229.1	$ 199.4
Operating lease right-of-use assets (included in other long-term assets)	$ 224.4	$ 196.7
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List]	Other Assets, Noncurrent	Other Assets, Noncurrent
Other accrued expenses	$ 68.0	$ 54.0
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Other Liabilities, Current	Other Liabilities, Current
Other long-term liabilities	$ 161.1	$ 145.4
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Other Liabilities, Noncurrent	Other Liabilities, Noncurrent