Income Taxes - 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
Income Tax Disclosure [Abstract]
Effective income tax rate	24.20%	27.60%	26.10%	27.20%
U.S. corporate tax rate	21.00%		21.00%
Deferred tax assets, valuation allowance	$ 31.3		$ 31.3
Liability for income taxes associated with uncertain tax positions	18.0		18.0		$ 16.4
Decrease in uncertain tax positions during the next twelve months	$ 0.2		$ 0.2