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Intangible Assets (Tables)
 6 Months Ended
Jun. 30, 2020
Goodwill and Intangible Assets Disclosure [Abstract]  
Schedule of Intangible Assets
The following table provides the gross carrying value and accumulated amortization for each major class of intangible asset at June 30, 2020 and December 31, 2019 (in millions):

June 30, 2020December 31, 2019
Gross Carrying ValueAccumulated AmortizationNet Book ValueGross Carrying ValueAccumulated AmortizationNet Book Value
Customer relationships$163.7  $(20.4) $143.3  $160.9  $(15.6) $145.3  
Technology108.3  (11.6) 96.7  26.8  (7.4) 19.4  
Total intangible assets$272.0  $(32.0) $240.0  $187.7  $(23.0) $164.7  
Schedule of Acquired Intangible Assets
Through the SCI Acquisition, the Company acquired the following intangible assets in 2020 (in millions, except weighted average useful life):

Weighted Average Useful LifeGross Carrying Value
Customer relationships10 years$2.8  
Technology10 years$81.5  
Schedule of Estimated Annual Amortization Expense Estimated annual amortization expense related to intangible assets with definite lives as of June 30, 2020 is as follows (in millions):
Remainder of 2020$11.2  
202122.3  
202222.3  
202322.3  
202419.4  
202517.9  
Thereafter124.6  
Total$240.0