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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits [Roll Forward]    
Balance at January 1 $ 5.0 $ 3.9
Increase due to current year position 4.9 1.6
Increase due to prior year position 0.6 0.0
Reduction for expiration of statute of limitations/audits (0.1) (0.5)
Balance at December 31 $ 10.4 $ 5.0