Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Unearned revenue	$ 13.1		$ 21.3
Revenue recognized that was in contract liabilities at the beginning of the period	$ 40.7	$ 38.1
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-04-01 | Maximum
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Remaining performance obligation expected timing of satisfaction	1 year