Leases - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Leases [Abstract]
Operating lease expense	$ 41.1	$ 44.2	$ 40.8
Short-term lease expense	3.4	4.2
Total finance lease expense	$ 1.4	$ 2.4	$ 3.8