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Summary of Significant Accounting Policies - Accounting Pronouncements (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2018
Dec. 31, 2020
Dec. 31, 2019
Jan. 01, 2019
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Operating ROU assets   $ 10.8 $ 12.4  
Total lease liabilities   $ 10.2 $ 11.7  
AS 2016-02        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Operating ROU assets       $ 5.1
Total lease liabilities       $ 5.1
ASU 2018-02        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Deferred tax adjustments $ 1.1