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Revenue - Change in Contract Assets and Liabilities (Details)
$ in Millions
 12 Months Ended
Dec. 31, 2019
USD ($)
Contract assets  
Accounts receivable, net of allowances $ 194.8
Change in accounts receivable 7.8
Accounts receivable, net of allowances 202.6
Unbilled contract revenue 54.5
Change in unbilled contract revenue 31.6
Unbilled contract revenue $ 86.1
Change in accounts receivable (as a percentage) 4.00%
Change in unbilled contract revenue (as a percentage) 58.00%
Contract liabilities  
Customer advances and billings in excess of contract revenue $ 130.0
Change in customer advances and billings in excess of contract revenue (2.2)
Customer advances and billings in excess of contract revenue 127.8
Long-term deferred revenue 1.4
Change in long-term deferred revenue (0.6)
Long-term deferred revenue $ 0.8
Change in customer advances and billings in excess of contract revenue (as a percentage) (1.70%)
Change in long-term deferred revenue (as a percentage) (42.90%)