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Retirement Plans - Additional Information (Details) - USD ($)
$ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Feb. 29, 2020
Jan. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Mar. 31, 2021
Defined Benefit Plan Disclosure [Line Items]              
Pension liability     $ 0.0 $ 0.0 $ 0.0 $ 6.6  
Remaining plan assets in excess of pension liability             $ 16.6
United States Plans              
Defined Benefit Plan Disclosure [Line Items]              
Contributions to pension plans   $ 19.2          
Settlement of lump sum payments $ 3.2            
Defined Benefit Pension Plan              
Defined Benefit Plan Disclosure [Line Items]              
Contributions to pension plans     5.1   14.5    
Estimated employer contribution to pension plans during remainder of current fiscal year     16.0   16.0    
Retiree Health Care Plan              
Defined Benefit Plan Disclosure [Line Items]              
Contributions to retiree health care plan     $ 0.2   $ 0.8