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Income Taxes - Significant Components of Income Tax Expense (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Current:      
U.S. federal current expense (benefit) $ 0.0 $ 0.0 $ 0.0
State current expense (benefit) 0.0 (0.1) (1.1)
Foreign current expense 4.0 0.1 0.8
Total current expense (benefit) 4.0 (0.0) (0.3)
Deferred:      
U.S. federal deferred benefit (1.2) (2.2) (1.6)
State deferred benefit 0.0 (0.2) 0.0
Foreign deferred tax expense (benefit) (5.9) (6.0) 1.7
Total deferred expense (benefit) (7.1) (8.4) 0.1
Total income tax expense (benefit) $ (3.1) $ (8.4) $ (0.2)