Revenue Recognition - Contract Balances (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Change in Contract with Customer, Liability [Abstract]
Balance as of January 1	$ 268.3	$ 247.4	$ 227.4
Revenue recognized	(71.9)	(68.4)	(69.1)
Revenue deferred	84.9	89.3	87.6
Acquired liabilities	2.6	0.0	1.5
Balance as of December 31	283.9	268.3	247.4
Change in Contract with Customer, Asset [Abstract]
Balance as of December 31	72.1	84.5	100.5
Contract assets	(12.4)	(16.0)	55.8
Balance as of January 1	84.5	100.5	44.7
Revenue recognized and unbilled	(13.1)	(13.3)	26.7
Acquired assets		(3.3)	$ 29.1
Currency translation and other	$ 0.7	$ 0.6