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Leases - Lease Cost (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Leases [Abstract]        
Operating lease cost $ 3.3 $ 3.1 $ 9.5 $ 9.3
Short-term lease cost 0.4 0.3 0.9 0.6
Variable lease cost 1.1 1.2 3.3 2.8
Total lease cost $ 4.8 $ 4.6 $ 13.7 $ 12.7