Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Contract Assets, Current [Roll Forward]
Balance as of beginning of fiscal year	$ 38.9	$ 38.5
Recognized in current year	25.7	25.1
Reclassified to accounts receivable	(19.1)	(20.2)
Impairment	0.0	0.0
Reclassification to/from contract liability	(3.5)	0.0
Divestiture	0.0	0.1
Balance as of period end	42.0	43.5
Contract Assets, Noncurrent [Roll Forward]
Balance as of beginning of fiscal year	0.0	0.1
Recognized in current year	0.0	0.0
Reclassified to accounts receivable	0.0	0.0
Impairment	0.0	0.0
Reclassification to/from short-term	0.0	(0.1)
Balance as of period end	0.0	0.0
Contract Liabilities, Current [Roll Forward]
Balance as of beginning of fiscal year	111.8	78.7
Recognized in current year	57.1	71.7
Amounts in beginning balance reclassified to revenue	(43.0)	(22.1)
Current year amounts reclassified to revenue	(4.0)	(17.1)
Other	0.0	(0.3)
Reclassification to/from long-term and contract asset	(3.2)	3.4
Balance as of period end	118.7	114.3
Contract Liabilities, Noncurrent [Roll Forward]
Balance as of beginning of fiscal year	32.0	25.9
Recognized in current year	24.3	7.4
Amounts in beginning balance reclassified to revenue	(0.3)	(0.2)
Current year amounts reclassified to revenue	0.0	0.0
Other	0.0	0.0
Reclassification to/from short-term	(0.3)	(3.4)
Balance as of period end	$ 55.7	$ 29.7