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Credit Losses (Details) - USD ($)
$ in Millions
Jun. 30, 2021
Dec. 31, 2020
Financing Receivable, Allowance for Credit Loss [Line Items]    
Accounts receivable allowance for credit losses $ 6.4 $ 6.8
Percent of accounts receivable not past due 92.00% 88.00%
Percent of accounts receivable past due 8.00% 12.00%
Accounts receivable, noncurrent, threshold period past due 60 days 60 days
Reserve for contract assets and sales-type leases $ 4.0 $ 3.7
Greater than 60 Days Past Due    
Financing Receivable, Allowance for Credit Loss [Line Items]    
Percent of accounts receivable past due 1.00% 1.50%