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Revenue from Contracts with Customers - Costs of Obtaining Contracts (Details) - USD ($)
$ in Millions
Sep. 30, 2019
Dec. 31, 2018
Prepaid expenses and other    
Costs of Obtaining Contracts with Customers    
Current portion of costs of obtaining contracts with customers $ 8.8 $ 6.0
Other noncurrent assets    
Costs of Obtaining Contracts with Customers    
Non-current portion of costs of obtaining contracts with customers $ 28.4 $ 20.3