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Revenue Changes in Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Contract Liabilities [Roll Forward]        
Beginning balance $ 22.3 $ 20.0 $ 32.4 $ 26.8
Revenue recognized that was included in the contract liability balance at the beginning of the period (10.1) (9.1) (24.2) (18.5)
Increases due to consideration received, excluding amounts recognized as revenue during the period 6.8 5.7 10.8 8.3
Ending balance $ 19.0 $ 16.6 $ 19.0 $ 16.6