Restructuring and Other Related Charges - Restructuring and Related Activities (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 4.9	$ 6.2	$ 2.5
Impairment charges	0.0	0.0	0.5
Employee severance related
Restructuring Cost and Reserve [Line Items]
Restructuring charges	4.9	6.1	2.0
Facility exit and other related
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 0.0	$ 0.1	$ 0.0