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Restructuring - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Restructuring Cost And Reserve [Line Items]          
Accretion of interest recognized related to restructuring activities $ 0.1 $ 0.1 $ 0.3 $ 0.3  
Restructuring accrual, current portion 1.4   1.4   $ 2.9
Restructuring accrual outstanding 3.6   3.6   5.7
Restructuring accrual outstanding expected to be paid in 2020 1.0   1.0    
Restructuring accrual outstanding expected to be paid in 2021 1.6   1.6    
Restructuring accrual outstanding expected to be paid in 2022 1.6   1.6    
Accretion of interest 0.6   0.6    
Accrued Expenses and Other Current Liabilities          
Restructuring Cost And Reserve [Line Items]          
Restructuring accrual, current portion 1.4   1.4   2.9
Other Noncurrent Liabilities          
Restructuring Cost And Reserve [Line Items]          
Restructuring accrual, noncurrent portion $ 2.2   $ 2.2   $ 2.8