Revenue - Contracts and Liabilities (Details) $ in Millions	6 Months Ended
	Jun. 30, 2024 USD ($)
Contract With Customer, Asset [Roll Forward]
Contract assets, December 31, 2023	$ 21.5
Contract assets, June 30, 2024	22.6
Change in contract assets - increase (decrease)	1.1
Contract With Customer, Liability [Roll Forward]
Deferred income, December 31, 2023	(53.9)
Deferred income, June 30, 2024	(52.2)
Change in deferred income - decrease (increase)	$ 1.7