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Revenue - Effect of Lease Modifications (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2020
Mar. 31, 2019
Jun. 30, 2020
Dec. 31, 2019
Financial Statement After Lease Modification [Line Items]        
Contract assets, net       $ 6.8
Accounting Standards Update [Extensible List]   us-gaap:AccountingStandardsUpdate201409Member    
Accounts receivable, net $ 68.6   $ 68.6 78.6
Equipment under lease 23.3   23.3  
Deferred revenue 8.2   8.2 $ 5.6
Other operating (income) expense, net 12.4   12.4  
Balance Prior to Lease Modification        
Financial Statement After Lease Modification [Line Items]        
Contract assets, net 11.3   11.3  
Accounts receivable, net 67.7   67.7  
Deferred revenue 7.7   7.7  
Effect of Change        
Financial Statement After Lease Modification [Line Items]        
Contract assets, net (11.3)   $ (11.3)  
Accounting Standards Update [Extensible List]     us-gaap:AccountingStandardsUpdate201409Member  
Accounts receivable, net 0.9   $ 0.9  
Equipment under lease 23.3   23.3  
Deferred revenue $ (0.5)   (0.5)  
Other operating (income) expense, net     $ (12.4)