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Revenue Recognition - Change in Contract Liabilities (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Revenue from Contract with Customer [Abstract]    
Balance as of January 1 $ 268.3 $ 247.4
Revenue recognized (48.7) (47.4)
Revenue deferred 59.9 63.5
Acquired liabilities 2.6 0.0
Balance as of September 30 $ 282.1 $ 263.5