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Revenues from Contracts with Customers - Contract Costs (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Dec. 31, 2018
Contract costs          
Contract cost asset $ 147.4   $ 147.4   $ 137.6
Practical expedient, incremental costs of obtaining a contract     true    
Impairment loss for contract cost asset     $ 0.0    
Amortization expense of contract cost asset $ 6.2 $ 5.9 $ 11.8 $ 11.6