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Revenue from Contract with Customer (Tables)
 3 Months Ended
Mar. 31, 2021
Revenue from Contract with Customer [Abstract]  
Disaggregation of Revenue [Table Text Block] The following table represents the percentage of revenue recognized either at a point in time or over time:
Three Months Ended
March 31,
Timing of revenue recognition20212020
Products transferred at a point in time39 %35 %
Products and services transferred over time61 %65 %
Net sales100 %100 %
Contract with Customer, Asset and Liability [Table Text Block]
The following table provides 2021 information about receivables and deferred revenue, which represent contract liabilities from contracts with customers:
Contract balance informationTrade ReceivablesContract liabilities
Balance at December 31$646.9 $346.8 
Balance at March 31 $629.1 $365.8