Revenue - Contract Assets and Contract Liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Contract with Customer, Liability, Revenue Recognized	$ 33.3
Contract assets	80.2	$ 66.7
Contract liabilities	$ 95.5	$ 103.0