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Retirement Plans - Plan Assets and Estimated Future Benefit Payments (Details) - USD ($) $ in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Retirement plans |  |  |
Expected contribution in next fiscal year | $ 1.1 |  |
Estimated future benefit payments |  |  |
Fiscal 2021 | 1.0 |  |
Fiscal 2022 | 1.1 |  |
Fiscal 2023 | 1.2 |  |
Fiscal 2024 | 1.2 |  |
Fiscal 2025 | 1.3 |  |
Fiscal 2026 ‑ Fiscal 2029 | $ 8.0 |  |
Target and actual asset allocations |  |  |
Total target plan assets | 100.00% |  |
Total actual plan assets | 100.00% |  |
Total assets | $ 31.3 | $ 27.0 | $ 22.2
United States Retirement Plan |  |  |
Target and actual asset allocations |  |  |
Expected long-term return assumption (percentage) | 5.75% |  |
Canadian Retirement Plan |  |  |
Target and actual asset allocations |  |  |
Expected long-term return assumption (percentage) | 4.30% |  |
Total equity based funds |  |  |
Target and actual asset allocations |  |  |
Total target plan assets | 60.00% |  |
Total actual plan assets | 56.60% |  |
Total assets | $ 17.7 | 15.0 |
U.S. equity |  |  |
Target and actual asset allocations |  |  |
Total assets | 6.5 | 5.5 |
International equity |  |  |
Target and actual asset allocations |  |  |
Total assets | $ 11.2 | 9.5 |
Debt securities |  |  |
Target and actual asset allocations |  |  |
Total target plan assets | 40.00% |  |
Total actual plan assets | 43.10% |  |
Other |  |  |
Target and actual asset allocations |  |  |
Total target plan assets | 0.00% |  |
Total actual plan assets | 0.30% |  |
Common/collective trust - fixed income |  |  |
Target and actual asset allocations |  |  |
Total assets | $ 13.5 | 11.9 |
Money market funds |  |  |
Target and actual asset allocations |  |  |
Total assets | $ 0.1 | $ 0.1 |

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