Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Contract Assets, Current [Roll Forward]
Balance as of beginning of fiscal year	$ 53.9	$ 38.9
Recognized in current year	18.9	25.7
Reclassified to accounts receivable	(22.0)	(19.1)
Reclassification to/from long-term and contract liability	0.0	(3.5)
Balance as of period end	50.8	42.0
Contract Liabilities, Current [Roll Forward]
Balance as of beginning of fiscal year	116.2	111.8
Recognized in current year	40.5	57.1
Amounts in beginning balance reclassified to revenue	(28.1)	(43.0)
Current year amounts reclassified to revenue	(5.5)	(4.0)
Other	1.3	0.0
Reclassification to/from long-term and contract asset	8.9	(3.2)
Balance as of period end	133.3	118.7
Contract Liabilities, Noncurrent [Roll Forward]
Balance as of beginning of fiscal year	84.4	32.0
Recognized in current year	5.5	24.3
Amounts in beginning balance reclassified to revenue	(0.3)	(0.3)
Current year amounts reclassified to revenue	0.0	0.0
Reclassification to/from short-term	(8.9)	(0.3)
Balance as of period end	$ 80.7	$ 55.7