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Revenue Recognition - Deferred Revenue (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Revenue Recognition [Abstract]    
Balance at beginning of period $ 107.1 $ 81.6
New contracts sold 20.6 13.2
Less: reductions for revenue recognized (11.1) (9.2)
Balance at end of period $ 116.6 $ 85.6