Accounts Receivable and Contract Balances - Allowance for Credit Losses (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Beginning balance, allowance for credit losses	$ 25.7	$ 20.4
Increase to provision for credit losses	14.9	8.3	$ (5.4)
Write-offs charged against the allowance for credit losses	(14.5)	(6.0)
Other	2.7	3.0
Ending balance, allowance for credit losses	$ 28.8	$ 25.7	$ 20.4