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Revenue - Change in Contract Assets and Liabilities (Details)
$ in Millions
 3 Months Ended
Mar. 31, 2020
USD ($)
Contract assets  
Beginning accounts receivable, net of allowances $ 202.6
Change in accounts receivable (7.5)
Ending accounts receivable, net of allowances 195.1
Beginning unbilled contract revenue 86.1
Change in unbilled contract revenue 2.4
Ending unbilled contract revenue $ 88.5
Change in accounts receivable (as a percentage) (3.70%)
Change in unbilled contract revenue (as a percentage) 2.80%
Contract liabilities  
Begining balance customer advances and billings in excess of contract revenue $ 127.8
Change in customer advances and billings in excess of contract revenue (3.5)
Ending balance customer advances and billings in excess of contract revenue 124.3
Beginning long-term deferred revenue 0.8
Change in long-term deferred revenue (0.1)
Ending long-term deferred revenue $ 0.7
Change in customer advances and billings in excess of contract revenue (as a percentage) (2.70%)
Change in long-term deferred revenue (as a percentage) (12.50%)