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Intangible Assets - Summary of Changes in Intangible Assets (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 18, 2017
Dec. 31, 2020
Dec. 31, 2019
Finite and Indefinite Lived Intangible Assets [Roll Forward]      
Amortization   $ (1.1) $ (1.5)
Goodwill [Roll Forward]      
Goodwill, Beginning of the period   3.9 3.9
Goodwill, Additions (Disposals)   0.0 0.0
Goodwill, Impairment Loss   0.0 0.0
Goodwill, End of the Period   3.9 3.9
Intangible Assets and goodwill, Beginning of the period   23.9 26.3
Intangible Assets and Goodwill, Additions (Disposals)   0.0 0.0
Goodwill and Intangible Asset Impairment   0.0 (0.9)
Intangible Assets and goodwill, End of the period   22.8 23.9
Trademarks      
Finite and Indefinite Lived Intangible Assets [Roll Forward]      
Intangible Assets, Beginning of the period   1.9 2.5
Intangible Assets acquired (disposed) $ 0.0   0.0
Amortization   (0.3) (0.6)
Impairment of intangible assets (excluding goodwill)   0.0 0.0
Intangible Assets, End of the period   1.6 1.9
Agency Relationships      
Finite and Indefinite Lived Intangible Assets [Roll Forward]      
Intangible Assets, Beginning of the period   1.2 1.8
Intangible Assets acquired (disposed) 0.0   0.0
Amortization   (0.6) (0.6)
Impairment of intangible assets (excluding goodwill)   0.0 0.0
Intangible Assets, End of the period   0.6 1.2
Renewal Rights      
Finite and Indefinite Lived Intangible Assets [Roll Forward]      
Intangible Assets, Beginning of the period   0.0 1.0
Intangible Assets acquired (disposed)     0.0
Amortization     (0.1)
Impairment of intangible assets (excluding goodwill)     (0.9)
Intangible Assets, End of the period     0.0
Non-compete Agreements      
Finite and Indefinite Lived Intangible Assets [Roll Forward]      
Intangible Assets, Beginning of the period   0.2 0.4
Intangible Assets acquired (disposed) $ 0.0   0.0
Amortization   (0.2) (0.2)
Impairment of intangible assets (excluding goodwill)   0.0 0.0
Intangible Assets, End of the period   0.0 0.2
Insurance Licenses      
Finite and Indefinite Lived Intangible Assets [Roll Forward]      
Intangible Assets, Beginning of the period   16.7 16.7
Intangible Assets acquired (disposed)   0.0 0.0
Amortization   0.0 0.0
Impairment of intangible assets (excluding goodwill)   0.0 0.0
Intangible Assets, End of the period   $ 16.7 $ 16.7