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Supplementary Financial Information - Contract in Progress (Details) - USD ($) $ in Millions	Mar. 31, 2021	Dec. 31, 2020
Offsetting [Abstract]
Costs incurred on contracts in progress	$ 658.3	$ 752.9
Estimated earnings	132.8	139.0
Cost earned on uncompleted contract gross	791.1	891.9
Less progress billings	783.9	888.5
Net of cost earned on uncompleted contracts	7.2	3.4
Costs and recognized earnings in excess of billings on uncompleted contracts	65.7	55.6
Billings in excess of costs and recognized earnings on uncompleted contracts	$ (58.5)	$ (52.2)