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Revenue from contracts with customers Revenue from contracts with customers - contract balances (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]    
Receivables $ 695.0 $ 635.6
Receivable - increase (decrease) 59.4  
Contract Asset 1.4 1.9
Contract asset increase (decrease) (0.5)  
Contract Liability 11.9 $ 12.8
Contract liability - increase (decrease) (0.9)  
Revenue recognized included in beginning balance 9.4  
Revenue - revenue from performance obligation in prior periods 0.6  
Capitalized costs to obtain contracts $ 1.6