Retirement and Deferred Compensation Plans - Schedule of Fair Value of Pension Plan Assets by Asset Category (Details) - Pension Plan - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 |
Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 242.6 | $ 214.8 | $ 153.9 |
Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 753.6 | 655.4 | 354.1 |
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 | 157.6 | 125.8 | |
Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 353.4 | 314.8 | |
Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 242.6 | 214.8 | |
United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 38.8 | $ 36.1 |
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 | |
United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 31 | |
United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Cash and cash equivalents | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 16.1 | 5.5 | |
Cash and cash equivalents | 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 | 16.1 | 5.5 | |
Cash and cash equivalents | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Cash and cash equivalents | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Cash and cash equivalents | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 5.8 | |
Cash and cash equivalents | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Cash and cash equivalents | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 5.8 | |
Cash and cash equivalents | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Mutual funds | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 116.1 | 98 | |
Mutual funds | 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 | 116.1 | 98 | |
Mutual funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Mutual funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Mutual funds | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 7.8 | |
Mutual funds | 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 | |
Mutual funds | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Mutual funds | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Common stock | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 25.4 | 22.3 | |
Common stock | 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 | 25.4 | 22.3 | |
Common stock | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Common stock | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Common stock | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Common stock | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Common stock | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Common stock | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Fixed income funds | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 185.6 | 160 | |
Fixed income funds | 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 | 0 | 0 | |
Fixed income funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 185.6 | 160 | |
Fixed income funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Fixed income funds | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 25.2 | |
Fixed income funds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Fixed income funds | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 25.2 | |
Fixed income funds | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Annuity contract | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 56.2 | 52.5 | |
Annuity contract | 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 | 0 | 0 | |
Annuity contract | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Annuity contract | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 56.2 | 52.5 | |
Annuity contract | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Annuity contract | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Annuity contract | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Annuity contract | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Bonds | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 41.4 | 37 | |
Bonds | 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 | 0 | 0 | |
Bonds | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 41.4 | 37 | |
Bonds | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Bonds | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Bonds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Bonds | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Bonds | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Guaranteed insurance contracts | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 21 | 18.5 | |
Guaranteed insurance contracts | 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 | 0 | 0 | |
Guaranteed insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 21 | 18.5 | |
Guaranteed insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Guaranteed insurance contracts | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Guaranteed insurance contracts | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Guaranteed insurance contracts | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Guaranteed insurance contracts | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Insurance contracts | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 157.8 | 130.6 | |
Insurance contracts | 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 | 0 | 0 | |
Insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 157.8 | 130.6 | |
Insurance contracts | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Insurance contracts | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Insurance contracts | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Insurance contracts | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Real estate funds | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 92.1 | 93.3 | |
Real estate funds | 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 | 0 | 0 | |
Real estate funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 90.8 | 87.3 | |
Real estate funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 1.3 | 6 | |
Real estate funds | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Real estate funds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Real estate funds | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Real estate funds | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Hedge funds | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 32 | 29.3 | |
Hedge funds | 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 | 0 | 0 | |
Hedge funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 11.4 | 9.6 | |
Hedge funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 20.6 | 19.7 | |
Hedge funds | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Hedge funds | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Hedge funds | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Hedge funds | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Other | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 9.9 | 8.4 | |
Other | 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 | 0 | 0 | |
Other | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 3.2 | 2.4 | |
Other | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 6.7 | 6 | |
Other | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Other | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Other | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | 0 | |
Other | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | | $ 0 | |