Revenue from Contracts with Customers - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Contract with customer, liability	$ 74.3		$ 53.7
Contract with customer, revenue recognized	$ 2.6	$ 3.8