Revenue Recognition - Receivables, Contract Assets and Contract Liabilities (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Revenue Recognition
Contract Receivables	$ 397.1	$ 401.9
Contract Assets (Current)	8.4	23.6
Contract Assets (Long-term)	3.0	0.1
Contract Liabilities (Current)	20.3	29.2
Contract Liabilities (Long-term)	$ 2.0	$ 3.2
Percentage of contract liability balance at the beginning of the period recognized as revenue during the period	89.00%
Percentage of contract asset balance at the beginning of the period recognized as expense	90.00%
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2024	10.00%
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Revenue Recognition
Percentage of remaining performance obligation to be recognized	11.00%
Recognition period for remaining performance obligation	12 months

Amortization expense percentage for contract asset to be recognized during the current fiscal year.

No definition available.

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- Definition

Amortization expense percentage for contract asset to be recognized during the first year following the latest fiscal year.

+ References

No definition available.

+ Details

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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.

+ Details

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- Definition

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.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
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-Name Accounting Standards Codification
-Section 45
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- Definition

+ References

+ Details

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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.

+ References

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-Topic 606
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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 noncurrent.

+ References

+ Details

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- Definition

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.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 954
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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.

+ References

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

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

+ References

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- Definition

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.

+ References

No definition available.

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