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Revenue from Contracts with Customers (Tables)
 3 Months Ended
Mar. 31, 2021
Revenue from Contract with Customer [Abstract]  
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Table Text Block]
The following table summarizes our contract assets and contract liabilities (in millions):
 March 31, 2021 December 31, 2020
Current contract assets$2.3 $1.4 
Noncurrent contract assets$.3 $.4 
Current contract liabilities (deferred revenue)$53.6 $57.6 
Noncurrent contract liabilities (deferred revenue)$13.9 $14.3 
Changes in contract assets and liabilities during the period are as follows (in millions):
 Contract AssetsContract Liabilities
Balance as of December 31, 2020$1.8 $71.9 
Revenue recognized in advance of right to bill customer2.0 — 
Increase due to cash received— 9.4 
Decrease due to amortization of deferred revenue that was included in the beginning contract liability balance— (13.8)
Decrease due to transfer to receivables during the period(1.2)— 
Balance as of March 31, 2021$2.6 $67.5 
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Table Text Block] Expected future amortization of our contract liabilities and deferred costs recorded as of March 31, 2021 is set forth in the table below (in millions):
 Remaining 2021202220232024 and Thereafter Total
Amortization of contract liabilities$51.3 $15.6 $.6 $— $67.5 
Amortization of deferred costs$14.9 $3.5 $.5 $— $18.9