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Revenues from Contracts - Contract Balances (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]    
Contract Accounts Receivable $ 260.7 $ 259.7
Increase (decrease) in accounts receivable 1.0  
Contract Assets 81.1 63.1
Increase (decrease) in contract with customer, asset, net, current 18.0  
Contract Liabilities - current (103.5) (100.5)
Increase (decrease) in contract with customer, liability, current (3.0)  
Contract liabilities - non-current (3.4) (3.3)
Increase (decrease) in contract with customer, liability, noncurrent (0.1)  
Net contract balance 234.9 $ 219.0
Increase (decrease) in contract with customers, net $ 15.9