Revenue Recognition - Schedule of Contract Liabilities (Details) - USD ($) $ in Millions	Mar. 31, 2023	Dec. 31, 2022
Contract with Customer, Liability [Abstract]
Customer advances	$ 688.9	$ 696.7
Other current liabilities	74.7	77.4
Long-term customer advances	1,110.6	1,020.5
Other long-term liabilities	65.5	66.8
Total contract liabilities	$ 1,939.7	$ 1,861.4