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Revenue - Change in Contract Assets and Liabilities (Details)
$ in Millions
 6 Months Ended
Jun. 30, 2020
USD ($)
Contract assets  
Beginning accounts receivable, net of allowances $ 202.6
Change in accounts receivable (18.2)
Ending accounts receivable, net of allowances 184.4
Beginning unbilled contract revenue 86.1
Change in unbilled contract revenue (0.6)
Ending unbilled contract revenue $ 85.5
Change in accounts receivable (as a percentage) (9.00%)
Change in unbilled contract revenue (as a percentage) (0.70%)
Contract liabilities  
Beginning balance customer advances and billings in excess of contract revenue $ 127.8
Change in customer advances and billings in excess of contract revenue 5.8
Ending balance customer advances and billings in excess of contract revenue 133.6
Beginning long-term deferred revenue 0.8
Change in long-term deferred revenue (0.3)
Ending long-term deferred revenue $ 0.5
Change in customer advances and billings in excess of contract revenue (as a percentage) 4.50%
Change in long-term deferred revenue (as a percentage) (37.50%)