Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Summary of unrecognized tax benefits for the years ended
Beginning balance	$ 45.6	$ 38.9	$ 26.0
Tax positions related to the current year:
Additions	1.6	2.2	3.6
Tax positions related to prior years:
Additions	3.7	8.7	11.7
Reductions	(8.1)	(1.0)	(1.1)
Settlements with tax authorities	(1.7)	(0.3)	(1.2)
Lapses in statutes of limitation	(5.0)	(2.9)	(0.1)
Ending balance	$ 36.1	$ 45.6	$ 38.9