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Contracts with Customers - Additional Information (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Revenue From Contract With Customer [Abstract]    
Revenue recognized included contract liability $ 69,100,000 $ 94,300,000
Impairment of contract assets 0 0
Amounts due to revisions 0 0
Impact of changes in estimated claims or incentives on revenue 5,000,000 $ 5,000,000
Remaining unsatisfied performance obligations $ 5,100,000,000