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Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]          
Contract assets - current $ 47.0   $ 47.0   $ 38.4
Contract assets - long-term 21.3   21.3   21.6
Deferred revenue - current (197.4)   (197.4)   (246.4)
Deferred revenue - long-term (122.5)   (122.5)   $ (147.0)
Revenue recognized that was included in deferred revenue at the beginning of the period $ 48.1 $ 30.1 $ 197.3 $ 202.1