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Stock-Based Compensation - Schedule of Stock-Based Compensation Expense by Type of Award (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 17.7 | $ 16.0 | $ 17.5
Tax benefit from stock exercised and converted during the period | 9.1 | 7.8 | 7.6
Non-qualified stock options |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 4.5 | 3.6 | 4.0
Restricted stock, service based |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 6.4 | 6.1 | 6.4
Restricted stock, performance based |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 6.2 | 5.8 | 6.7
Employee stock purchase plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 0.6 | $ 0.5 | $ 0.4

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