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Income Taxes - Reconciliation of Unrecognized Tax Liabilities (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of total amounts of unrecognized income tax benefits      
Gross Unrecognized Tax Liabilities – opening balance $ 78.2 $ 66.5 $ 57.0
Gross increases – tax positions in prior period 2.4 4.8 12.2
Gross decreases – tax positions in prior period (6.1) (0.5) (13.5)
Gross increases – tax positions in current period 3.5 12.3 14.9
Settlements 0.0 (0.1) (1.4)
Lapse of statute of limitations (2.9) (4.8) (2.7)
Gross Unrecognized Tax Liabilities – ending balance $ 75.1 $ 78.2 $ 66.5