Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Decrease in accounts receivable		$ 130.1
Increase (decrease) in deferred revenue during period	$ 32.7	(6.1)
Revenues recognized that were included in deferred revenue	507.5	496.4
Increase (decrease) in contract asset	10.5
Contract assets reclassified to receivables	11.4
Commission assets, net of accumulated amortization	161.7	143.7
Amortization of commission assets	$ 43.4	$ 37.2	$ 27.1