Revenues - Additional Information (Details) - USD ($) $ in Millions	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Segment Reporting Information [Line Items]
Contract with Customer, Liability	$ 54.5		$ 54.0
Contract with Customer, Liability, Noncurrent	30.1		27.0
Offset of revised estimated variable consideration		$ 7.1
Other adjustments		2.1
Deferred Costs	54.1		42.2
Incentive and Profit-sharing Contingent Commissions
Segment Reporting Information [Line Items]
Deferred Revenue, Revenue Recognized	$ 22.0	7.5
Variable consideration, Received		$ 16.7
Cost to Obtain
Segment Reporting Information [Line Items]
Capitalized contract cost, amortization period	15 years
Deferred Costs	$ 14.6
Capitalized Contract Cost, Amortization	2.7
Cost to Fulfill
Segment Reporting Information [Line Items]
Deferred Costs	73.8		$ 77.8
Capitalized Contract Cost, Amortization	$ 7.5