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Revenue (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2018
Sep. 30, 2018
Sep. 30, 2017
Contract assets      
Beginning accounts receivable, net of allowances $ 196.4 $ 196.4  
Change in accounts receivable (19.1) (23.5) $ 5.6
Ending accounts receivable, net of allowances 177.3 177.3  
Beginning unbilled contract revenue 43.0 36.5  
Change in unbilled contract revenue (8.8) (10.2) 18.5
Ending unbilled contract revenue $ 34.2 34.2  
Change in accounts receivable (as a percentage) 9.70%    
Change in unbilled contract revenue (as a percentage) 20.50%    
Contract liabilities      
Beginning customer advances and billings in excess of contract revenue $ 99.7 109.6  
Change in customer advances and billings in excess of contract revenue (5.2) (2.1) $ 7.4
Ending customer advances and billings in excess of contract revenue 94.5 94.5  
Beginning long-term deferred revenue 1.7    
Change in long-term deferred revenue (0.1)    
Ending long-term deferred revenue $ 1.6 $ 1.6  
Change in customer advances and billings in excess of contract revenue (as a percentage) 5.20%    
Change in long-term deferred revenue (as a percentage) 5.90%