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Revenue Recognition - Change in Contract Liabilities (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Revenue from Contract with Customer [Abstract]    
Balance as of January 1 $ 247.4 $ 227.4
Revenue recognized (47.4) (48.6)
Revenue deferred 63.5 61.5
Acquired liabilities 0.0 1.1
Balance as of September 30 $ 263.5 $ 241.4