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Revenue - Narrative (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2024
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]    
Percentage of revenue from service contracts and post-shipment obligations (approximate) 2.00%  
Contract liabilities $ 148.5 $ 118.6
Increase in net contract liabilities 29.9  
Increase in current year deferrals, net 82.0  
Revenue recognized 52.1  
Contract assets $ 28.7 $ 41.6