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Contract Liabilities and Assets (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Dec. 31, 2020
Disaggregation of Revenue [Abstract]      
Contract liability $ 226.9 $ 226.9 $ 194.1
Contract liability, revenue recognized 8.3 26.8  
Contract asset $ 9.0 $ 9.0 $ 8.2