Revenue - Schedule of Contract Assets and Liabilities (Details) - USD ($) $ in Millions	9 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Contract assets	$ 55.2	$ 50.1
Contract liabilities	38.3	27.5
Net contract assets	16.9	$ 22.6
$ Change
Contract assets	5.1
Contract liabilities	10.8
Net contract assets	$ (5.7)
% Change
Contract assets	10.20%
Contract liabilities	39.30%
Net contract assets	(25.20%)