Guarantees - Narrative (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Product Warranty Liability [Line Items]
Revenue deferred related to buyback obligations included in other current and non-current liabilities	$ 25.4	$ 27.3
Amount of residual value buyback commitments and given by the company	41.4	42.5
Amount of loss guarantees with maximum liabilities	11.8	15.0
Revenue deferred related to extended warranties included in other current and non-current liabilities	$ 7.0	6.6
Standard product warranties, low end of range (in months)	12 months
Standard product warranties, high end of range (in months)	60 months
Other Noncurrent Liabilities
Product Warranty Liability [Line Items]
Revenue deferred related to extended warranties included in other current and non-current liabilities	$ 9.9	$ 9.2