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Fair Value of Financial Instruments - Other Investments - AVCT (Details) - AVCT - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2021
Dec. 31, 2020
Fair Value, Financial Instruments Measured on a Recurring Basis [Line Items]      
Equity investment ownership percentage   3.00% 9.00%
Beneficial ownership of all interests percentage   6.00% 21.00%
Equity investment and warrants, amount paid (in dollars)   $ 6.0 $ 5.0
Unrealized fair value measurement gains, net, AVCT shares   (8.5) 10.1
Reclassified gains (losses) on AVCT convertible debentures $ 0.7    
Unrealized gains on AVCT convertible debentures, before tax   (1.1) 1.8
Unrealized gains on AVCT convertible debentures, net of tax   (0.8) 1.4
Common Stock      
Fair Value, Financial Instruments Measured on a Recurring Basis [Line Items]      
Equity securities, fair value   $ 8.0 $ 17.0