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Revenue from Contracts with Customers - Narrative (Details)
 3 Months Ended
Mar. 31, 2021
USD ($)
segment
Mar. 31, 2020
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Revenue recognition [Line Items]        
Inventories, net $ 1,047,800,000   $ 997,100,000  
Adjustment from current cost to LIFO cost basis (37,300,000)   (44,100,000)  
Sales 692,500,000 $ 955,500,000    
Cost of sales 606,700,000 820,700,000    
Short-term contract assets 42,000,000.0 43,500,000 38,900,000 $ 38,500,000
Long-term contract assets 0 0 0 100,000
Other current liabilities 230,000,000.0   233,100,000  
Other long-term liabilities 207,100,000   189,900,000  
Short-term contract liabilities 118,700,000 114,300,000 111,800,000 78,700,000
Long-term contract liabilities $ 55,700,000 29,700,000 32,000,000.0 $ 25,900,000
Number of business segments | segment 2      
Revenue, Performance Obligation [Abstract]        
Confirmed order backlog $ 1,500,000,000 2,100,000,000    
Confirmed orders with current performance obligations 0.75      
Accounts receivable with customers 428,100,000   350,100,000  
Contract costs for obtaining and fulfilling contracts 5,300,000   $ 5,400,000  
Amortization of contract costs $ 200,000 $ 300,000