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Revenue - Change in Contract Assets and Liabilities (Details)
$ in Millions
 9 Months Ended
Sep. 30, 2020
USD ($)
Contract assets  
Beginning accounts receivable, net of allowances $ 191.6
Change in accounts receivable (28.0)
Ending accounts receivable, net of allowances 163.6
Beginning unbilled contract revenue 86.1
Change in unbilled contract revenue 11.0
Ending unbilled contract revenue $ 97.1
Change in accounts receivable (as a percentage) (14.60%)
Change in unbilled contract revenue (as a percentage) 12.80%
Contract liabilities  
Beginning balance customer advances and billings in excess of contract revenue $ 127.7
Change in customer advances and billings in excess of contract revenue (3.0)
Ending balance customer advances and billings in excess of contract revenue $ 124.7
Change in customer advances and billings in excess of contract revenue (as a percentage) (2.30%)