Quarterly report pursuant to Section 13 or 15(d)

Revenue, Contract Assets and Liabilities and Other Contract Matters - Summary of Contract with Customer, Asset and Liability (Parenthetical) (Details)

v3.21.2
Revenue, Contract Assets and Liabilities and Other Contract Matters - Summary of Contract with Customer, Asset and Liability (Parenthetical) (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Revenue From Contract With Customer [Abstract]          
Contract with customer, liability, revenue recognized $ 2.8 $ 4.0 $ 2.8 $ 8.6  
Contract with customer, liability, accrued contract losses, current $ 4.8   $ 4.8   $ 5.4