Commitments (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Commitments and Contingencies Disclosure [Abstract]
Weighted average remaining lease term	6 years 7 months 6 days
Operating lease, weighted average discount rate	2.80%
Operating lease of related to rental expenses	$ 7.5	$ 7.0	$ 6.5
Operating lease payments	6.0
Noncash additions to operating lease assets	34.9
Royalty expense	$ 53.0	$ 48.9	$ 39.6
Royalty expense, percentage of net sales	7.40%	7.20%	6.70%