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Revenue Recognition - Contract Balances (Details) - USD ($)
$ in Millions
6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2019
Dec. 31, 2020
Revenue Recognition        
Contract assets $ 15.6 $ 8.4 $ 8.0 $ 8.3
Contract liabilities 53.5 47.7 51.6 $ 55.0
Revenue recognized 27.9   $ 27.5  
Contract assets reclassified into accounts receivable 23.7 21.0    
Contract modifications adjustment 1.3      
Contract liabilities increase due to cash received 2.7 $ 2.3    
Contract assets increase, licensing contract modification $ 7.4