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Income Taxes (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Income tax expense $ 3.1 $ 0.4  
Effective income tax rate (percent) 10.60% 16.00%  
Unrecognized tax benefits $ 1.9    
Unrecognized tax benefit that would impact effective tax rate     $ 1.3
Income tax penalties and interest accrued $ 0.3