Revenue Recognition - Schedule of Contract Liabilities (Details) - USD ($) $ in Millions	Mar. 31, 2024	Dec. 31, 2023
Contract with Customer, Liability [Abstract]
Customer advances	$ 703.8	$ 706.9
Other current liabilities	87.6	96.2
Non-current customer advances	1,181.5	1,190.7
Other non-current liabilities	69.1	68.5
Total contract liabilities	$ 2,042.0	$ 2,062.3