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Share-Based Payments - Tax Benefit and Cash Received from Stock Option Exercises (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Payment Arrangement [Abstract] |  |  |
Tax benefit realized for stock options | $ 2.9 | $ 2.5 | $ 2.2
Cash received from the exercise of stock options | $ 0.7 | $ 0.4 | $ 0.8

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