Revenue - Contract Estimates (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2020 |
Dec. 31, 2019 |
Dec. 31, 2018 |
|
| Revenue from Contract with Customer [Abstract] | |||
| Unfavorable adjustments to operating income | $ 3.7 | ||
| Favorable adjustments to operating income | $ 3.1 | $ 1.6 | |
| Unfavorable adjustments to revenue | $ 1.8 | ||
| Favorable adjustments to revenue | $ 4.4 | $ 0.8 | |