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Fair Value Measurements - Quantitative Information for Level 3 Inputs (Details) - Market Yield - Significant Unobservable Inputs (Level 3) $ in Millions | Mar. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
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Senior Debt | Measurement Input, Discount Rate | Non-investment-grade | Minimum |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Debt instrument, measurement input | 0.009 | 0.024
Senior Debt | Measurement Input, Discount Rate | Non-investment-grade | Maximum |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Debt instrument, measurement input | 0.193 | 0.234
Senior Debt | Measurement Input, Discount Rate | Non-investment-grade | Weighted-average Yield |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Debt instrument, measurement input | 0.097 | 0.095
Junior Debt | Measurement Input, Discount Rate | Non-investment-grade | Minimum |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Debt instrument, measurement input | 0.022 | 0.031
Junior Debt | Measurement Input, Discount Rate | Non-investment-grade | Maximum |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Debt instrument, measurement input | 0.279 | 0.279
Junior Debt | Measurement Input, Discount Rate | Non-investment-grade | Weighted-average Yield |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Debt instrument, measurement input | 0.145 | 0.137
Private Placement | Investment-grade |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Total Fair Value | $ 251.7 | $ 246.7
Private Placement | Measurement Input, Discount Rate | Investment-grade | Minimum |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Alternative investment, measurement input | 0.009 | 0.014
Private Placement | Measurement Input, Discount Rate | Investment-grade | Maximum |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Alternative investment, measurement input | 0.120 | 0.130
Private Placement | Measurement Input, Discount Rate | Investment-grade | Weighted-average Yield |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Alternative investment, measurement input | 0.034 | 0.038
Senior Debt | Non-investment-grade |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Total Fair Value | $ 95.4 | $ 111.1
Junior Debt | Non-investment-grade |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Total Fair Value | 59.1 | 64.6
Other |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Total Fair Value | 23.0 | 26.8
Investments in Fixed Maturities |  |
Fair Value Inputs, Assets, Quantitative Information [Line Items] |  |
Total Fair Value | $ 429.2 | $ 449.2

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