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Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Contract Assets, Current [Roll Forward]    
Balance as of beginning of fiscal year $ 53.9 $ 38.9
Recognized in current year 35.3 48.9
Reclassified to accounts receivable (34.9) (30.4)
Reclassification to/from long-term and contract liability 0.0 (5.1)
Balance as of period end 54.3 52.3
Contract Liabilities, Current [Roll Forward]    
Balance as of beginning of fiscal year 116.2 111.8
Recognized in current year 59.6 77.9
Amounts in beginning balance reclassified to revenue (54.4) (63.9)
Current year amounts reclassified to revenue (13.4) (18.7)
Other 1.5 0.0
Reclassification to/from long-term and contract asset 16.2 (3.3)
Balance as of period end 125.7 103.8
Contract Liabilities, Noncurrent [Roll Forward]    
Balance as of beginning of fiscal year 84.4 32.0
Recognized in current year 7.5 41.0
Amounts in beginning balance reclassified to revenue (0.5) (0.5)
Current year amounts reclassified to revenue 0.0 0.0
Reclassification to/from short-term (16.2) (1.8)
Balance as of period end $ 75.2 $ 70.7