Revenue from Contracts with Customers - 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
Revenue from Contract with Customer [Abstract]
Contract with customer, liability	$ 43.5		$ 43.5		$ 53.7
Contract with customer, revenue recognized	$ 1.2	$ 1.7	$ 32.7	$ 5.8