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Earnings Per Share - Computation of Earnings (Loss) Per Common Share (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Earnings Per Share [Abstract]      
Income from continuing operations $ 96.1 $ 108.4 $ 93.7
Gain from discontinued operations and disposal, net of tax 0.1 0.1 0.3
Net income $ 96.2 $ 108.5 $ 94.0
Weighted average shares outstanding - basic (shares) 60.3 60.2 59.9
Dilutive effect of common stock equivalents (shares) 1.4 1.4 1.3
Weighted average shares outstanding - Diluted (shares) 61.7 61.6 61.2
Basic earnings per share:      
Earnings from continuing operations (usd per share) $ 1.59 $ 1.80 $ 1.56
Earnings from discontinued operations and disposal, net of tax (usd per share) 0.00 0.00 0.01
Net earnings per share (usd per share) 1.59 1.80 1.57
Diluted earnings per share:      
Earnings from continuing operations (usd per share) 1.56 1.76 1.53
Earnings from discontinued operations and disposal, net of tax (usd per share) 0.00 0.00 0.01
Net earnings per share (usd per share) $ 1.56 $ 1.76 $ 1.54