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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, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 18.9 | $ 14.7 | $ 17.7
Tax benefit from stock exercised and converted during the period | 2.5 | 4.5 | 9.1
Non-qualified stock options |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 7.3 | 6.8 | 4.5
Restricted stock, service based (“RSUs”) |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 7.7 | 8.4 | 6.4
Restricted stock, performance based (“PRSUs”) |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 3.6 | (0.7) | 6.2
Employee stock purchase plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 0.3 | $ 0.2 | $ 0.6

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