Receivables - Allowance for Credit Losses (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Financing Receivable, Allowance for Credit Loss [Line Items]
Allowance for credit losses - receivables	$ 11.7	$ 12.0
Allowance for credit losses - contract assets	0.5	0.5
Total allowance for credit losses	$ 12.2	$ 12.5	$ 15.6	$ 12.8