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Revenue Recognition - Changes in Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Accounts receivables current    
Contract Receivables $ 393.5 $ 427.2
Contract with customer assets current    
Contract Assets (Current) 29.9 23.5
Contract with customer non-current asset    
Contract Assets (Long-term) 8.0 6.8
Contract with customer liability current    
Contract Liabilities (Current) 59.9 42.8
Contract with customer liability non-current    
Contract Liabilities (Long-term) $ 40.0 $ 44.2
Contract Asset Balance    
2020 65.00%  
Contract percentage recognized 19.00%  
2021 28.00%  
2022 or thereafter 7.00%