Revenue Recognition - Receivables, Contract Assets and Contract Liabilities (Details) - USD ($) $ in Millions	9 Months Ended
Sep. 30, 2023	Dec. 31, 2022
Revenue Recognition
Contract Receivables	$ 372.7	$ 401.9
Contract Assets (Current)	14.0	23.6
Contract Assets (Long-term)	2.8	0.1
Contract Liabilities (Current)	21.3	29.2
Contract Liabilities (Long-term)	$ 2.5	$ 3.2
Contract liability balance
Percentage of contract liability balance at the beginning of the period recognized as revenue during the period	72.00%
Contract asset balance
Percentage of contract asset balance at the beginning of the period expected to be recognized in 2023	96.00%
Percentage of contract asset balance at the beginning of the period which has been recognized in the current year	80.00%
Percentage of contract asset balance at the beginning of the period expected to be recognized in 2024	4.00%
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01
Contract liability balance
Percentage of remaining performance obligation to be recognized	90.00%
Recognition period for remaining performance obligation	12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Contract liability balance
Percentage of remaining performance obligation to be recognized	10.00%
Recognition period for remaining performance obligation	12 months

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The percentage of the contract asset balance at the beginning of the year which is expected to be recognized in the current year.

+ References

No definition available.

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The percentage of the contract asset balance at the beginning of the year which is expected to be recognized in year two..

+ References

No definition available.

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The percentage of the contract asset balance at the beginning of the year which has been recognized in the current year.

+ References

No definition available.

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- Definition

The percentage of the contract liability balance at the beginning of the period which was recognized as revenue during the period.

+ References

No definition available.

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Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current.

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- Definition

Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as current.

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as noncurrent.

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Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right to consideration is unconditional.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition

Period in which remaining performance obligation is expected to be recognized as revenue, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Percentage of remaining performance obligation to total remaining performance obligation not recognized as revenue.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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