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Revenue and Contract Balances - Uncompleted Contracts (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]    
Costs incurred on uncompleted contracts $ 389.8 $ 339.3
Estimated earnings 41.1 38.3
Subtotal 430.9 377.6
Billings to date (437.1) (375.5)
Total $ (6.2) $ 2.1