Revenues - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2021	Dec. 31, 2020
ASU 2016-02
Revenue Recognition [Line Items]
Lease receivables	$ 15.1	$ 15.1	$ 17.5
ASC 2014-09
Revenue Recognition [Line Items]
Receivables from contracts with customers	22.7	22.7	$ 45.1
Revenue recognized that was included in the contract liability	3.0	8.1
Future revenues under contract	418.7	418.7
Contracts currently being invoiced	339.4	339.4
Backlog for sales bookings	$ 79.3	$ 79.3
Average remaining contract term of backlog sales bookings		6 years 2 months 12 days