Revenue Revenue (Details textual) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Contract assets	$ 75.4	$ 45.0
Contract liabilities	54.7	48.8
Contract with Customer, Liability, Noncurrent	12.4	$ 12.0
Contract liability, revenue recognized	11.5
Remaining performance obligation	$ 300.0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-10-01
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Remaining performance obligation, expected timing of satisfaction, period	1 year