Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Concentration Risk [Line Items]
Contract liability	$ 53.4	$ 57.0
Revenue recognized	$ 48.1	$ 52.5	$ 60.3
Customer Concentration Risk \| Revenue Benchmark
Concentration Risk [Line Items]
Concentration risk percentage	11.00%	12.00%	14.00%

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

No definition available.

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For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

+ References

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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