Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Mar. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Allowance for credit loss	$ 2.5	$ 2.3
Allowance for credit loss, receivable, other, current	(0.7)	(0.7)
Accumulated depreciation	(247.2)	(248.0)
Accumulated amortization	$ (39.9)	$ 38.1
Preferred stock, shares authorized	4,000,000	4,000,000
Preferred stock, par value (in dollars per share)	$ 1.00	$ 1.00
Preferred stock, shares issued	0	0
Common stock, shares authorized	40,000,000	40,000,000
Common stock, par value (in dollars per share)	$ 0.20	$ 0.20
Common stock, shares issued	22,837,047	22,767,052
Common stock, shares outstanding	22,837,047	22,767,052