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Revenue from Contract with Customer (Tables)
 9 Months Ended
Sep. 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:
Nine months ended
September 30
Timing of revenue recognition20212020
Products transferred at a point in time39 %38 %
Products and services transferred over time61 %62 %
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 September 30, 2021 $671.4 $246.4