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Revenue Recognition - Changes in Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Dec. 31, 2019
Accounts receivables current    
Contract Receivables $ 517.2 $ 507.0
Contract with customer assets current    
Contract Assets (Current) 44.8 48.6
Contract with customer non-current asset    
Contract Assets (Long-term) 21.9 24.9
Contract with customer liability current    
Contract Liabilities (Current) 60.4 66.8
Contract with customer liability non-current    
Contract Liabilities (Long-term) $ 65.6 $ 70.5
Contract Asset Balance    
2020 58.00%  
Contract percentage recognized 21.00%  
2021 24.00%  
2022 or thereafter 18.00%