Leases - Additional information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Lessee, Lease, Description [Line Items]
Lease, cost	$ 30.7	$ 30.2	$ 32.6
Minimum
Lessee, Lease, Description [Line Items]
Lessee, operating lease, option to terminate or extend	1 year