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Revenue from Contracts with Customers (Tables)
 3 Months Ended
Mar. 31, 2022
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, 2022 December 31, 2021
Current contract assets$3.6 $0.3 
Noncurrent contract assets$0.1 $— 
Current contract liabilities (deferred revenue)$56.3 $45.8 
Noncurrent contract liabilities (deferred revenue)$9.7 $10.8 

Changes in contract assets and liabilities during the period are as follows (in millions):
 Contract AssetsContract Liabilities
Balance as of December 31, 2021$0.3 $56.6 
Revenue recognized in advance of right to bill customer3.4 — 
Increase due to cash received— 22.3 
Decrease due to amortization of deferred revenue that was included in the beginning contract liability balance— (12.1)
Decrease due to amortization of deferred revenue added during the period— (0.8)
Balance as of March 31, 2022$3.7 $66.0 
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Table Text Block] xpected future amortization of our contract liabilities, or in the case of our contract liabilities related to our bareboat charter arrangements with ARO, the amount is reflected at the end of the lease term, and deferred costs recorded as of March 31, 2022 is set forth in the table below (in millions):
 Remaining 2022202320242025 and Thereafter Total
Amortization of contract liabilities$54.6 $5.4 $3.8 $2.2 $66.0 
Amortization of deferred costs$26.6 $15.4 $2.8 $— $44.8