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Fair Value of Financial Instruments - Other Investments - AVCT - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Fair Value, Financial Instruments Measured on a Recurring Basis [Line Items]          
Equity investment and warrants, amount paid $ 6.0   $ 6.0   $ 6.0
AVCT          
Fair Value, Financial Instruments Measured on a Recurring Basis [Line Items]          
Equity investment ownership, percentage 3.00%   3.00%   3.00%
Beneficial ownership of all interests, percentage 5.00%   5.00%   6.00%
Unrealized fair value measurement gains (losses), AVCT shares $ (2.2) $ 1.0 $ (7.1)    
Unrealized gains (losses) on AVCT convertible debentures, before tax   0.3   $ 1.3  
Unrealized gains (losses) on AVCT convertible debentures, net of tax   $ 0.2   $ 1.0  
AVCT | Common Stock          
Fair Value, Financial Instruments Measured on a Recurring Basis [Line Items]          
Equity securities, fair value $ 1.0   $ 1.0   $ 8.0