Revenue - Schedule of Contract Assets and Liabilities (Details) - USD ($)	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Contract assets	$ 53,700,000	$ 50,100,000
Contract liabilities	29,900,000	27,500,000
Net contract assets	23,800,000	$ 22,600,000
$ Change
Contract assets	3,600,000
Contract liabilities	2,400,000
Net contract assets	$ 1,200,000
% Change
Contract assets	7.20%
Contract liabilities	8.70%
Net contract assets	5.30%
Percent of contract liabilities	45.00%
Impairment losses on contract assets	$ 0