Revenue - Timing of Revenue Recognition (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Disaggregation of Revenue [Line Items]
Revenue	$ 588.5	$ 556.3	$ 1,683.6	$ 1,629.6
Revenue recognized at a point in time
Disaggregation of Revenue [Line Items]
Revenue	248.1	232.2	691.5	655.3
Revenue recognized over time
Disaggregation of Revenue [Line Items]
Revenue	$ 340.4	$ 324.1	$ 992.1	$ 974.3