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Revenue Recognition Contract Assets and Liabilities (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020 | Dec. 31, 2020
Revenue Recognition [Abstract] |  |  |  |  |
Receivables from contracts with customers, net | $ 572.1 |  | $ 572.1 |  | $ 595.0
Contract Asset (Current) | 29.0 |  | 29.0 |  | 25.7
Contract Asset (Long-Term) | 6.8 |  | 6.8 |  | 10.2
Contract Liability (Current) | 33.1 |  | 33.1 |  | 32.5
Contract Liability (Long-Term) | 58.2 |  | 58.2 |  | $ 56.0
Revenue recognized in period from amounts included in contract liability at the beginning of the period | 8.2 | $ 10.3 | 16.9 | $ 18.8 |
Revenue recognized in period from performance obligations satisfied in previous periods | $ 5.7 | $ 3.9 | 11.1 | 3.9 |
Contract assets reclassified to receivables |  |  | $ 24.6 | $ 24.4 |

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