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Revenue - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Percentage of revenue from service contracts and post-shipment obligations (approximate) 3.00%  
Contract liability $ 22.2 $ 30.9
Decrease in net contract liabilities 8.7  
Revenue recognized 16.2  
Increase in current year deferrals, net $ 7.5