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Revenues - Changes in Contract Assets (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Change in Contract with Customer, Asset [Roll Forward]    
Contract Assets, January 1, 2019 $ 14.6  
Changes related to revenue recognition during the period 19.5 $ 18.7
Invoiced during the period (12.5)  
Contract Assets, December 31 $ 21.6 $ 14.6