Revenue - Timing of Revenue Recognition (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Disaggregation of Revenue [Line Items]
Revenue	$ 554.7	$ 537.3	$ 1,095.1	$ 1,073.3
Revenue recognized at a point in time
Disaggregation of Revenue [Line Items]
Revenue	227.8	214.3	443.4	423.1
Revenue recognized over time
Disaggregation of Revenue [Line Items]
Revenue	$ 326.9	$ 323.0	$ 651.7	$ 650.2