Revenues - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
ASU 2016-02
Revenue Recognition [Line Items]
Lease receivables	$ 19.1	$ 17.5
ASC 2014-09
Revenue Recognition [Line Items]
Receivables from contracts with customers	32.2	$ 45.1
Revenue recognized that was included in the contract liability	5.1
Future revenues under contract	461.7
Contracts currently being invoiced	396.4
Backlog for sales bookings	$ 65.3
Average remaining contract term of backlog sales bookings	6 years 7 months 6 days