Property, Plant and Equipment - Components of Property Plant and Equipment (Details) - USD ($) $ in Millions	Dec. 31, 2020	Dec. 31, 2019
Property, Plant and Equipment [Line Items]
Subtotal	$ 2,741.5	$ 2,604.2
Less: accumulated depreciation	(1,705.9)	(1,615.0)
Property, Plant and Equipment, net	1,035.6	989.2
Land and buildings
Property, Plant and Equipment [Line Items]
Subtotal	535.3	510.9
Machinery and equipment
Property, Plant and Equipment [Line Items]
Subtotal	$ 2,206.2	$ 2,093.3