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Revenue - Change in Contract Assets and Liabilities (Details)
$ in Millions
 3 Months Ended
Mar. 31, 2021
USD ($)
Contract assets  
Beginning accounts receivable, net of allowances $ 200.8
Change in accounts receivable (14.4)
Ending accounts receivable, net of allowances 186.4
Beginning unbilled contract revenue 79.4
Change in unbilled contract revenue (4.8)
Ending unbilled contract revenue $ 74.6
Change in accounts receivable (as a percentage) (7.20%)
Change in unbilled contract revenue (as a percentage) (6.00%)
Contract liabilities  
Beginning balance customer advances and billings in excess of contract revenue $ 118.9
Change in customer advances and billings in excess of contract revenue (12.6)
Ending balance customer advances and billings in excess of contract revenue 106.3
Beginning long-term deferred revenue 1.9
Change in long-term deferred revenue (1.7)
Ending long-term deferred revenue $ 0.2
Change in customer advances and billings in excess of contract revenue (as a percentage) (10.60%)
Change in long-term deferred revenue (as a percentage) (89.50%)