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Contract Assets and Contract Liabilities - Change in Carrying Amount of Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Contract Assets    
Balance at beginning of year $ 544.2 $ 623.4
Acquisitions 0.0 4.1
Recognized in current year 233.4 293.0
Reclassified to accounts receivable (242.0) (282.9)
Foreign currency impact (5.5) (8.3)
Balance at end of period 530.1 629.3
Contract Liabilities    
Balance at beginning of year 831.2 799.7
Acquisitions 1.7 6.9
Recognized in current year 233.6 290.2
Amounts in beginning balance reclassified to revenue (213.5) (317.6)
Current year amounts reclassified to revenue (11.4) (11.8)
Foreign currency impact (8.4) (6.2)
Balance at end of period $ 833.2 $ 761.2