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Shareholders' Equity - Dividends and Stock Repurchase Programs (Details) - USD ($)
$ / shares in Units, shares in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
May 31, 2019
Oct. 31, 2017
Equity [Abstract]          
Cash dividends declared (in dollars per share) $ 0.40 $ 0.36 $ 0.24    
Cash dividends declared $ 25,500,000 $ 23,600,000 $ 16,100,000    
Authorized amount       $ 200,000,000.0 $ 100,000,000.0
Increase to repurchase program       $ 100,000,000.0  
Amount available to repurchase shares under stock repurchase program $ 246,300,000        
Shares repurchased (in shares) 2.6 2.1 0.7    
Amount of shares repurchased $ 68,300,000 $ 65,400,000 $ 20,000,000.0