Revenue from Lessor Arrangements and Contracts with Customers (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Accounts, Notes, Loans and Financing Receivable [Line Items]
Net sales	$ 249.6	$ 248.4	$ 725.8	$ 660.5
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-10-01
Accounts, Notes, Loans and Financing Receivable [Line Items]
Revenue, remaining performance obligation	$ 9.6		$ 9.6
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-10-01 | Minimum
Accounts, Notes, Loans and Financing Receivable [Line Items]
Revenue, remaining performance obligation, expected timing of satisfaction	1 year		1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-10-01 | Maximum
Accounts, Notes, Loans and Financing Receivable [Line Items]
Revenue, remaining performance obligation, expected timing of satisfaction	5 years		5 years
VERIFI Sales Arrangements
Accounts, Notes, Loans and Financing Receivable [Line Items]
Operating lease income	$ 10.1	9.9	$ 29.3	28.4
Service revenue	2.3	2.1	6.6	5.4
Net sales	$ 6.4	$ 6.6	$ 18.6	$ 19.6