Revenue from Contracts with Customers - Contract Balances (Details) - USD ($) $ in Millions	Sep. 30, 2021	Dec. 31, 2020
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Accounts receivable, net	$ 927.0	$ 861.8
Contract assets	59.1	60.4
Contract liabilities	$ 217.5	$ 166.2

Amount, after allowance for credit loss, of right to consideration from customer for product sold and service rendered in normal course of business, classified as current.

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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant