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Revenue Recognition - Schedule of Net Under (Over) Billings (Details) - USD ($)
$ in Millions
Mar. 31, 2024
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]    
Costs and estimated earnings in excess of billings on uncompleted contracts (contract assets) $ 35.3 $ 31.7
Billings in excess of costs and estimated earnings on uncompleted contracts (contract liabilities) (9.9) (10.1)
Net under billings $ 25.4 $ 21.6