Inventories - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Inventory Disclosure [Abstract]
Capitalized direct labor expense included in work in process	$ 1.1		$ 1.1		$ 1.7
Rental depreciation expense	$ 1.3	$ 0.9	$ 4.5	$ 2.4