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Revenue from Contracts with Customers Components of Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
Sep. 30, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Current contract assets $ 1.5 $ 1.4
Noncurrent contract assets 0.0 0.4
Current contract liabilities (deferred revenue) 32.5 57.6
Noncurrent contract liabilities (deferred revenue) $ 11.9 $ 14.3