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Restructuring and Impairment Activities - Additional Information (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and impairment expense | $ 2.3 | $ 1.6 | $ 4.0 | $ 1.7
Total restructuring and impairment expense |  |  | 1.5 | 1.7
Severance |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and impairment expense | 1.3 | 1.6 | 1.6 | 1.7
EP |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and impairment expense | 2.3 | 1.1 | 4.0 | 1.2
Cumulative restructuring charges | 8.5 |  | 8.5 |
EP | Facility shutdown |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and impairment expense | 1.0 |  |  |
Restructuring and related cost, expected cost remaining | (1.0) |  | (1.0) |
EP | Severance |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Total restructuring and impairment expense | 1.3 |  |  | 1.1
AMS |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and impairment expense | $ 0.0 | $ 0.5 | $ 0.0 | $ 0.5

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