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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