Retirement and Deferred Compensation Plans - Schedule of Fair Value of Pension Plan Assets by Asset Category (Details) - Pension plans - USD ($) $ in Millions | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 |
Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 214.8 | $ 153.9 | $ 108.8 |
United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 38.8 | 36.1 | 38.7 |
United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 7.8 | 6.3 | |
United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 31 | 29.8 | |
United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Cash and cash equivalents | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 5.8 | 5.1 | |
United States Plans | Cash and cash equivalents | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Cash and cash equivalents | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 5.8 | 5.1 | |
United States Plans | Cash and cash equivalents | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Mutual funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 7.8 | 6.3 | |
United States Plans | Mutual funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 7.8 | 6.3 | |
United States Plans | Mutual funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Mutual funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Common stock | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Common stock | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Common stock | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Common stock | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Fixed income funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 25.2 | 24.7 | |
United States Plans | Fixed income funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Fixed income funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 25.2 | 24.7 | |
United States Plans | Fixed income funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Bonds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Bonds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Guaranteed insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Guaranteed insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Guaranteed insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Guaranteed insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Bank loans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
United States Plans | Bank loans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
United States Plans | Bank loans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
United States Plans | Bank loans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
United States Plans | Insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Hedge funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Hedge funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Hedge funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Hedge funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Other | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Other | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Other | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Other | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 655.4 | 354.1 | $ 376.7 |
Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 125.8 | 66 | |
Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 314.8 | 134.2 | |
Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 214.8 | 153.9 | |
Non-United States Plans | Cash and cash equivalents | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 5.5 | 35.5 | |
Non-United States Plans | Cash and cash equivalents | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 5.5 | 35.5 | |
Non-United States Plans | Cash and cash equivalents | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Cash and cash equivalents | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Mutual funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 98 | 30.5 | |
Non-United States Plans | Mutual funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 98 | 30.5 | |
Non-United States Plans | Mutual funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Mutual funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Common stock | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 22.3 | | |
Non-United States Plans | Common stock | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 22.3 | | |
Non-United States Plans | Common stock | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Common stock | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Fixed income funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 160 | 99.4 | |
Non-United States Plans | Fixed income funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Fixed income funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 160 | 99.4 | |
Non-United States Plans | Fixed income funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Annuity contract | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 52.5 | 46.2 | |
Non-United States Plans | Annuity contract | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Annuity contract | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Annuity contract | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 52.5 | 46.2 | |
Non-United States Plans | Bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 37 | | |
Non-United States Plans | Bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Bonds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 37 | | |
Non-United States Plans | Bonds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Guaranteed insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 18.5 | 17.7 | |
Non-United States Plans | Guaranteed insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Guaranteed insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 18.5 | 17.7 | |
Non-United States Plans | Guaranteed insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Bank loans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 8.9 | |
Non-United States Plans | Bank loans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Non-United States Plans | Bank loans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 8.9 | |
Non-United States Plans | Bank loans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Non-United States Plans | Insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 130.6 | 107.7 | |
Non-United States Plans | Insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 130.6 | 107.7 | |
Non-United States Plans | Real estate funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 93.3 | 8.2 | |
Non-United States Plans | Real estate funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Real estate funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 87.3 | 8.2 | |
Non-United States Plans | Real estate funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 6 | $ 0 | |
Non-United States Plans | Hedge funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 29.3 | | |
Non-United States Plans | Hedge funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Hedge funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 9.6 | | |
Non-United States Plans | Hedge funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 19.7 | | |
Non-United States Plans | Other | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 8.4 | | |
Non-United States Plans | Other | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Other | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 2.4 | | |
Non-United States Plans | Other | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 6 | | |