Income Taxes - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Effective income tax rate (percent)	23.20%	23.10%
Gross unrecognized tax benefit	$ 7.7		$ 7.6
Expected change in unrecognized tax benefits	1.5
Accrued interest on income taxes	2.7		2.5
Accrued penalties on income taxes, less than	$ 0.1		$ 0.1