Stockholders' Equity - Summary of Stock Appreciation Rights (Details) - SARs $ / shares in Units, shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2020 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Stock, outstanding, beginning balance (in shares) | shares	1.2
Stock, exercised (in shares) | shares	(0.2)
Stock, canceled (in shares) | shares	(0.1)
Stock, outstanding, ending balance (in shares) | shares	0.9
Stock, exercisable (in shares) | shares	0.6
Stock, expected to vest (in shares) | shares	0.3
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Weighted average exercise price, beginning balance (in USD per share) | $ / shares	$ 27.32
Weighted average exercise price, exercised (in USD per share) | $ / shares	19.97
Weighted average exercise price, canceled (in USD per share) | $ / shares	31.46
Weighted average exercise price, ending balance (in USD per share) | $ / shares	29.09
Weighted average exercise price, exercisable (in USD per share) | $ / shares	28.27
Weighted average exercise price, expected to vest (in USD per share) | $ / shares	$ 31.01
Weighted average remaining contractual life, outstanding (years)	4 years 2 months 12 days
Weighted average remaining contractual life, exercisable (years)	4 years
Weighted average remaining contractual life, expected to vest (years)	4 years 6 months
Intrinsic value, outstanding | $	$ 21.0
Intrinsic value, exercisable | $	15.3
Intrinsic value, expected to vest | $	$ 5.7