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Employee Stock Purchase Plan, Stock Options and Warrants - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation cost not yet recognized   $ 25.4    
Compensation cost not yet recognized, period of recognition   2 years 6 months    
Options granted in period (in shares)   329,000 1,200,000 692,000
Fair value of options, net of forfeitures   $ 4.5 $ 20.9 $ 11.1
Options granted in period, weighted average grant date fair value (in dollars per share)   $ 13.70 $ 16.78 $ 16.05
Stock-Settled Performance-Based Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Compensation cost not yet recognized   $ 2.5    
Compensation cost not yet recognized, period of recognition   1 year 4 months 24 days    
Weighted average grant-date fair value (in dollars per share)   $ 43.60    
Restricted stock units granted (in shares)   122,000 0 0
Restricted stock units vested (in shares)     0 0
Number of shares of common stock for each unit   1    
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   75.00%    
Number of shares of common stock for each unit   0.75    
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   125.00%    
Number of shares of common stock for each unit   1.25    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Decrease in the potential shares of common stock to be granted 25,415      
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   0.00%    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   100.00%    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   2 years    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   0.00%    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   200.00%    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   3 years    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3 | FCF | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   0.00%    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3 | FCF | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   200.00%    
Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Compensation cost not yet recognized   $ 0.7    
Compensation cost not yet recognized, period of recognition   6 months    
Weighted average grant-date fair value (in dollars per share)   $ 42.98    
Restricted stock units granted (in shares)   34,000 0 0
Restricted stock units vested (in shares)     0 0
Cash-Settled Performance-Based Share-Based Awards (Liability Awards)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Target cash incentive   $ 1.0    
Compensation cost not yet recognized   $ 1.0    
Compensation cost not yet recognized, period of recognition   1 year 6 months    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1 | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   125.00%    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 2        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   2 years    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 2 | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   250.00%    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 3        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   3 years    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 3 | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   250.00%    
2018 Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares)   1,297,062    
2018 Incentive Plan | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Option contractual life   7 years    
2018 Incentive Plan | Stock Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   3 years    
2018 Incentive Plan | Stock Options | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   5 years    
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares)   40,073    
Purchase price for ESPP, percent of market price   95.00%