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Stock-Based Compensation - Schedule of Allocation of Share-based Compensation Costs by Plan (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Tax benefit $ (0.3) $ (0.3) $ (1.0) $ (1.0)
Stock-based compensation expense, net of tax 6.9 5.1 19.7 16.3
Stock-based compensation expenses (RSUs and PRSUs), before income taxes        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation expenses, before income taxes $ 7.2 $ 5.4 $ 20.7 $ 17.3