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Income Taxes - TCJA and Net operating loss carryforwards (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Taxes [Line Items]      
Increase (decrease) in deferred tax asset valuation allowance $ (12.4)    
Federal      
Income Taxes [Line Items]      
Income tax refund   $ 0.8 $ 0.8
Cumulative net operating loss carryforwards 168.2    
Tax credit carryforwards $ 34.0    
Tax credits expiring in next five years     $ 0.5
Period to use tax credit carryforward 4 years    
State      
Income Taxes [Line Items]      
Cumulative net operating loss carryforwards $ 161.6    
Tax credit carryforwards 17.8    
Years Prior to 2018 | Federal      
Income Taxes [Line Items]      
Cumulative net operating loss carryforwards 63.9    
Years After 2018 | Federal      
Income Taxes [Line Items]      
Cumulative net operating loss carryforwards $ 104.3