Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($) $ in Millions	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Contract Assets, Current [Roll Forward]
Balance as of beginning of fiscal year	$ 64.1	$ 53.9
Recognized in current year	66.6	74.1
Reclassified to accounts receivable	(74.1)	(57.9)
Contract with Customer, Asset, Current, Reclassification	0.0	0.1
Balance as of period end	56.6	70.2
Contract Liabilities, Current [Roll Forward]
Balance as of beginning of fiscal year	149.1	116.2
Recognized in current year	61.4	105.3
Amounts in beginning balance reclassified to revenue	(86.7)	(80.8)
Current year amounts reclassified to revenue	(40.9)	(42.9)
Other	(0.1)	0.8
Reclassification to/from long-term and contract asset	27.4	22.1
Balance as of period end	110.2	120.7
Contract Liabilities, Noncurrent [Roll Forward]
Balance as of beginning of fiscal year	66.8	84.4
Recognized in current year	1.0	9.6
Reclassification to/from short-term	(27.4)	(22.0)
Balance as of period end	$ 40.4	$ 72.0