Revenues - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred Revenue Arrangement [Line Items]
Retained earnings	$ 3,126.3	$ 2,740.1
Deferred revenue presented net within contract assets arising from contract	72.0	68.0
Deferred revenue recognized	393.8	262.9	$ 273.8
Revenue expected to be recognized from remaining performance obligations	1,013.8	1,000.3
Revenue expected to be recognized from remaining performance obligations in next twelve months	$ 498.0	$ 484.8