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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