Credit Losses (Details) - USD ($) $ in Millions	Sep. 30, 2021	Dec. 31, 2020
Financing Receivable, Allowance for Credit Loss [Line Items]
Accounts receivable allowance for credit losses	$ 6.5	$ 6.8
Percent of accounts receivable not past due	91.00%	88.00%
Percent of accounts receivable past due	9.00%	12.00%
Accounts receivable, noncurrent, threshold period past due	60 days	60 days
Reserve for contract assets and sales-type leases	$ 4.3	$ 3.7
Greater than 60 Days Past Due
Financing Receivable, Allowance for Credit Loss [Line Items]
Percent of accounts receivable past due		1.50%