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Revenue - Change in Contract Assets and Liabilities (Details)
$ in Millions
9 Months Ended
Sep. 30, 2021
USD ($)
Contract assets  
Beginning accounts receivable, net of allowances $ 200.8
Change in accounts receivable 36.3
Ending accounts receivable, net of allowances 237.1
Beginning unbilled contract revenue 79.4
Change in unbilled contract revenue 15.0
Ending unbilled contract revenue $ 94.4
Change in accounts receivable (as a percentage) 18.10%
Change in unbilled contract revenue (as a percentage) 18.90%
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 44.7
Ending balance customer advances and billings in excess of contract revenue 163.6
Beginning long-term deferred revenue 1.9
Change in long-term deferred revenue (1.8)
Ending long-term deferred revenue $ 0.1
Change in customer advances and billings in excess of contract revenue (as a percentage) 37.60%
Change in long-term deferred revenue (as a percentage) (94.70%)