Leases (Details) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2021 USD ($)	Jun. 30, 2020 USD ($)	Jun. 30, 2021 USD ($) Option	Jun. 30, 2020 USD ($)	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Variable lease expense and short-term lease expenses			$ 3.6	$ 3.4
Weighted average discount rate	4.10%		4.10%		4.20%
Lease expense	$ 7.1	$ 6.9	$ 14.4	13.4
Weighted average remaining lease term	7 years 2 months 12 days		7 years 2 months 12 days		7 years 6 months
Rent paid to related parties	$ 1.3	$ 1.6	$ 2.5	$ 2.5
Existence of option to extend			true
Minimum
Lessee, Lease, Description [Line Items]
Lease term	3 years		3 years
Number of options to renew | Option			1
Maximum
Lessee, Lease, Description [Line Items]
Lease term	10 years		10 years