Revenue - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2021 USD ($) end_market	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)
Revenue from Contract with Customer [Abstract]
Business incentive plan assets, carrying value	$ 151.2	$ 165.4
Amortization amount	62.1	64.1	$ 66.9
Upfront incentive payment	72.7	79.8
Contract asset	$ 36.1	$ 37.2
Number of end markets | end_market	4