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Revenue Recognition - Changes in Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Accounts receivables current    
Contract Receivables $ 379.8 $ 427.2
Contract with customer assets current    
Contract Assets (Current) 26.6 23.5
Contract with customer non-current asset    
Contract Assets (Long-term) 5.3 6.8
Contract with customer liability current    
Contract Liabilities (Current) 46.9 42.8
Contract with customer liability non-current    
Contract Liabilities (Long-term) $ 35.6 $ 44.2
Contract Asset Balance    
2021 68.00%  
Contract percentage recognized 35.00%  
2022 26.00%  
2023 or thereafter 6.00%