Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Contract Assets, Current [Roll Forward]
Balance as of beginning of fiscal year	$ 64.1	$ 53.9
Recognized in current year	20.4	18.9
Reclassified to accounts receivable	(31.8)	(22.0)
Balance as of period end	52.7	50.8
Contract Liabilities, Current [Roll Forward]
Balance as of beginning of fiscal year	149.1	116.2
Recognized in current year	33.6	40.5
Amounts in beginning balance reclassified to revenue	(51.7)	(28.4)
Current year amounts reclassified to revenue	(0.4)	(5.5)
Other	0.0	1.3
Reclassification to/from long-term and contract asset	19.1	9.2
Balance as of period end	149.7	133.3
Contract Liabilities, Noncurrent [Roll Forward]
Balance as of beginning of fiscal year	66.8	84.4
Recognized in current year	1.0	5.5
Reclassification to/from short-term	(19.1)	(9.2)
Balance as of period end	$ 48.7	$ 80.7