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Revenue - Performance obligations (Details)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2018
USD ($)
Sep. 30, 2018
USD ($)
Revenue    
Remaining performance obligations $ 1,730.0 $ 1,730.0
Percentage of remaining performance obligation expected to be recognized in period   81.00%
Amount of contract modifications included in the expected contract value. 90.4 $ 90.4
Amount of contract modifications recognized as revenue on a cumulative catch-up basis   82.9
Revenue recognized from performance obligations satisfied in previous periods $ 2.5 $ 27.5