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Revenue from Contracts with Customers - Accounts Receivable Reserve for Doubtful Accounts (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Accounts Receivable, Allowance for Credit Loss [Roll Forward]      
Beginning Balance $ 4.3 $ 4.6 $ 6.0
Expense to increase the reserve 0.3 0.2 0.2
Write-off of uncollectible accounts (0.8) (0.5) (1.6)
Ending Balance $ 3.8 $ 4.3 $ 4.6