Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
	Sep. 30, 2019	Sep. 30, 2019	Dec. 31, 2018
Revenue from Contract with Customer [Abstract]
Percentage of revenue from service contracts and post-shipment obligations (less than)		4.00%
Contract liability	$ 30.2	$ 30.2	$ 27.7
Increase (decrease) in net contract liabilities	2.5
Increase in current year deferrals	20.1
Revenue recognized		12.8
Decline in contract liabilities due to disposal		4.8
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2019-10-01
Revenue from Contract with Customer [Abstract]
Unsatisfied performance obligation	$ 370.0	$ 370.0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Unsatisfied performance obligation, period of recognition	3 years	3 years