Revenue Recognition - Schedule of Classification of Service-type Warranties in Consolidated Balance Sheets (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Sep. 30, 2020
Extended Product Warranty Accrual, Balance Sheet Classification [Abstract]
Service-type warranties, other current liabilities	$ 30.9	$ 26.8
Service-type warranties, other long-term liabilities	54.5	49.3
Service-type warranties	$ 85.4	$ 76.1	$ 66.9	$ 65.8	$ 64.4

Amount at end of the reporting period of the aggregate extended product warranty liability that is expected to be paid after one year from the balance sheet date or normal operating cycle, if longer. Does not include the balance for the standard product warranty liability.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 460
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (c)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482425/460-10-50-8

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 460
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (c)(5)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482425/460-10-50-8

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.24)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1

Name:	us-gaap_ExtendedProductWarrantyAccrualNoncurrent
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant