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Accounts Receivable and Contract Balances - Schedule of Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Disaggregation of Revenue [Line Items]    
Contract assets $ 134.7 $ 39.1
Contract liabilities 423.3 255.3
Revenue recognized from contract with customer 171.0 203.0
Long-term Contract with Customer    
Disaggregation of Revenue [Line Items]    
Contract liabilities $ 20.0 $ 12.0