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Revenue Recognition - Receivables, Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Revenue Recognition    
Contract Receivables $ 467.7 $ 397.1
Contract Assets (Current) 10.1 8.4
Contract Assets (Long-term) 3.8 3.0
Contract Liabilities (Current) 23.2 20.3
Contract Liabilities (Long-term) $ 1.9 $ 2.0
Contract liability balance    
Percentage of contract liability balance at the beginning of the period recognized as revenue during the period 26.00%  
Contract asset balance    
Percentage of contract asset balance at the beginning of the period recognized as expense 31.00%  
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2024 80.00%  
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2025 13.00%  
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2026 or later 7.00%  
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 76.00%  
Recognition period for remaining performance obligation 12 months  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01    
Contract liability balance    
Percentage of remaining performance obligation to be recognized 11.00%  
Recognition period for remaining performance obligation 12 months  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01    
Contract liability balance    
Percentage of remaining performance obligation to be recognized 13.00%  
Recognition period for remaining performance obligation 12 months