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Revenue - Reconciliation of Deferred Revenue Balances (Details) - USD ($) $ in Millions | 3 Months Ended
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Mar. 31, 2022 | Mar. 31, 2021
Reconciliation of Deferred Revenue |  |
Deferred revenue - beginning balance | $ 5.2 | $ 32.7
Revenue recognized | (4.8) | (6.7)
Prepayments | 0.3 | 5.1
Deferred revenue - ending balance | $ 0.7 | $ 31.1

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