Restructuring and Other Related Charges - Accrual Balance and Utilization by Type of Restructuring Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Reserve [Roll Forward]
Beginning Balance	$ 4.7	$ 1.8
Restructuring charges	4.9	6.2	$ 2.5
Paid/ Settled	(6.3)	(3.3)
Ending Balance	3.3	4.7	1.8
Employee severance related
Restructuring Reserve [Roll Forward]
Beginning Balance	4.5	1.7
Restructuring charges	4.9	6.1	2.0
Paid/ Settled	(6.1)	(3.3)
Ending Balance	3.3	4.5	1.7
Facility exit and other related
Restructuring Reserve [Roll Forward]
Beginning Balance	0.2	0.1
Restructuring charges	0.0	0.1
Paid/ Settled	(0.2)	0.0
Ending Balance	$ 0.0	$ 0.2	$ 0.1