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Revenue Recognition - Change in Contract Assets (Details) - USD ($) $ in Millions | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Revenue from Contract with Customer [Abstract] |  |
Balance as of January 1 | $ 84.5 | $ 100.5
Change in contract assets | (7.4) | 3.1
Balance as of March 31 | $ 77.1 | $ 103.6

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- Definition Increase (Decrease) in Contract with Customer, Asset, Including Business combinations + References No definition available. + Details
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- Definition Amount, before allowance for credit loss, of right to consideration in exchange for good or service transferred to customer, when right is conditioned on something other than passage of time. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 310 -SubTopic 10 -Section 50 -Paragraph 7A -URI http://asc.fasb.org/extlink&oid=123577603&loc=SL6953401-111524 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=123360276&loc=SL49130531-203044 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 326 -SubTopic 20 -Section 50 -Paragraph 14 -URI http://asc.fasb.org/extlink&oid=124255953&loc=SL82919253-210447 Reference 4: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=123360276&loc=SL49130533-203044 + Details
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