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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, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 14.7 | $ 17.7 | $ 16.0
Tax benefit from stock exercised and converted during the period | 4.5 | 9.1 | 7.8
Non-qualified stock options |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 6.8 | 4.5 | 3.6
Restricted stock, service based (“RSUs”) |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 8.4 | 6.4 | 6.1
Restricted stock, performance based (“PRSUs”) |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | (0.7) | 6.2 | 5.8
Employee stock purchase plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 0.2 | $ 0.6 | $ 0.5

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Amount of tax benefit from exercise of option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2A -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120381028&loc=SL79508275-113901 + Details
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