Revenue - Timing of Revenue Recognition (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Total revenue recognized	$ 2,314.0	$ 2,224.6	$ 2,165.6
Revenue recognized at a point in time
Disaggregation of Revenue [Line Items]
Total revenue recognized	972.4	925.0	931.8
Revenue recognized over time
Disaggregation of Revenue [Line Items]
Total revenue recognized	$ 1,341.6	$ 1,299.6	$ 1,233.8