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Acquisitions - BMH Systems Purchase Price Allocation (Details) - USD ($)
$ in Millions
Sep. 30, 2021
Dec. 31, 2020
Aug. 03, 2020
Business Acquisition [Line Items]      
Goodwill $ 38.5 $ 38.7  
BMH Systems      
Business Acquisition [Line Items]      
Cash     $ 1.2
Accounts receivable and contract assets     6.4
Inventories     2.0
Goodwill     6.3
Other assets     3.8
Intangible assets     5.7
Total assets acquired     25.4
Total liabilities assumed     (9.8)
Total purchase price     $ 15.6