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Debt - Schedule of Convertible Securities (Details) - Junior convertible securities - Junior Convertible Trust Preferred Securities - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Debt Instrument [Line Items]
Contractual interest expense	$ 5.0	$ 5.4
Amortization of debt issuance costs	0.1	0.1
Amortization of debt discount	0.0	0.8
Total	$ 5.1	$ 6.3
Effective interest rate	5.24%	6.01%

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