Restructuring and Impairment Activities - Restructuring and Related Charges (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Restructuring Cost and Reserve [Line Items]
Total restructuring and impairment expense	$ 1.7	$ 0.1
Severance
Restructuring Cost and Reserve [Line Items]
Total restructuring and impairment expense	0.3	0.1
Other
Restructuring Cost and Reserve [Line Items]
Total restructuring and impairment expense	$ 1.4	$ 0.0