Income Taxes - Operating Loss Carryforwards (Details) $ in Millions	12 Months Ended
	Dec. 31, 2020 USD ($)
Federal
Operating loss carryforwards
Net operating loss carryforwards	$ 114.1
Uncertain tax position reserve	3.7
State
Operating loss carryforwards
Net operating loss carryforwards	17.8
Foreign
Operating loss carryforwards
Net operating loss carryforwards	2.1
Research and development and other tax credit carryforwards
Operating loss carryforwards
Net operating loss carryforwards	37.5
Uncertain tax position reserve	$ 8.8