Revenue from Contracts with Customers - Accounts Receivable Reserve for Doubtful Accounts (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Balance as of beginning of fiscal year	$ 3.8	$ 4.3
Expense to increase the reserve	0.3	0.2
Write-off of uncollectible accounts	(0.1)	(0.3)
Balance as of period end	$ 4.0	$ 4.2