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Revenue - Adoption of ASC 606 (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Jan. 01, 2018
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Retained earnings $ 1,846.7 $ 1,549.4  
Difference Between Revenue Guidance in Effect Before and After Topic 606 | Accounting Standards Update 2014-09      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Retained earnings     $ 11.4