Revenue - Schedule of Contract Assets and Liabilities (Details) - USD ($)	6 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Contract assets	$ 52,300,000	$ 50,100,000
Contract liabilities	35,700,000	27,500,000
Net contract assets	16,600,000	$ 22,600,000
$ Change
Contract assets	2,200,000
Contract liabilities	8,200,000
Net contract assets	$ (6,000,000.0)
% Change
Contract assets	4.40%
Contract liabilities	29.80%
Net contract assets	(26.50%)
Percent of contract liabilities	65.00%
Impairment losses on contract assets	$ 0