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Stockholders' Equity - Reclassifications from Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]    
Amortization of actuarial losses of defined benefit pension plans $ (3.7) $ (3.3)
Amortization of prior service costs of defined benefit pension plans (0.1) (0.1)
Interest rate swaps (0.4) 1.0
Total before tax (4.2) (2.4)
Income tax benefit 1.0 0.5
Total reclassifications for the period, net of tax $ (3.2) $ (1.9)