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Revenue - Narrative (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]    
Percentage of revenue from service contracts and post-shipment obligations (approximate) 3.00%  
Contract liability $ 36.8 $ 31.0
Increase (decrease) in net contract liabilities 5.8  
Increase in current year deferrals, net 16.3  
Revenue recognized $ 10.5