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Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Contract Assets, Current [Roll Forward]      
Balance as of beginning of fiscal year $ 38.9 $ 38.5 $ 51.2
Recognized in current year 93.8 84.2 74.5
Reclassified to accounts receivable (76.2) (83.9) (79.9)
Reclassification to/from long-term and contract liability (2.6) 0.1 0.0
Divestiture 0.0 0.0 (7.3)
Balance as of period end 53.9 38.9 38.5
Contract Assets, Noncurrent [Roll Forward]      
Balance as of beginning of fiscal year 0.0 0.1 0.1
Recognized in current year 0.0 0.0 0.0
Reclassified to accounts receivable 0.0 0.0 0.0
Reclassification to/from short-term 0.0 (0.1) 0.0
Balance as of period end 0.0 0.0 0.1
Contract Liabilities, Current [Roll Forward]      
Balance as of beginning of fiscal year 111.8 78.7 71.4
Recognized in current year 161.5 170.3 126.1
Amounts in beginning balance reclassified to revenue (84.1) (54.9) (49.2)
Current year amounts reclassified to revenue (72.9) (90.1) (76.0)
Divestiture (0.8) 0.0 0.0
Other 0.1 0.0 1.9
Reclassification to/from long-term and contract asset 0.6 7.8 4.5
Balance as of period end 116.2 111.8 78.7
Contract Liabilities, Noncurrent [Roll Forward]      
Balance as of beginning of fiscal year 32.0 25.9 7.3
Recognized in current year 56.6 14.9 24.2
Amounts in beginning balance reclassified to revenue (1.0) (1.0) (1.1)
Current year amounts reclassified to revenue 0.0 0.0 0.0
Reclassification to/from short-term (3.2) (7.8) (4.5)
Balance as of period end 84.4 32.0 25.9
Amortization of contract costs $ 1.0 $ 1.4 $ 1.4