Revenue from Contracts with Customers - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Contract with customer, liability	$ 41.1		$ 41.1		$ 53.7
Contract with customer, revenue recognized	$ 28.9	$ 0.3	$ 31.5	$ 4.1