Revenue Recognition - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation Of Revenue [Line Items]
Contract asset	$ 0.0	$ 0.0
Contract with customer, revenue recognized	65.9	45.6
Deferred other income		222.6	$ 189.2
Revenue remaining performance obligation amount	110.0	123.5
Cumulative catch-up adjustment to revenue	$ 2.3	$ 10.0	$ 6.4
UNITED STATES \| Customer Concentration Risk \| Revenue from Contract with Customer Benchmark
Disaggregation Of Revenue [Line Items]
Revenue from customers within the United States	82.00%	88.00%	86.00%

For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

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