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Revenue from Contract with Customer (Tables)
 6 Months Ended
Jun. 30, 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:
Six Months Ended
June 30,
Timing of revenue recognition20212020
Products transferred at a point in time39 %36 %
Products and services transferred over time61 %64 %
Net sales100 %100 %
Contract with Customer, Asset and Liability [Table Text Block]
The following table provides information about receivables and deferred revenue, which represent contract liabilities from contracts with customers:
Contract balance informationTrade receivablesContract liabilities
Balance at December 31, 2020$646.9 $346.8 
Balance at June 30, 2021$638.6 $299.3