Revenue Recognition - Contract Balances (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Change in Contract with Customer, Liability [Abstract]
Balance as of January 1	$ 283.9	$ 268.3	$ 247.4
Revenue recognized	(76.5)	(71.9)	(68.4)
Revenue deferred	103.3	84.9	89.3
Acquired liabilities	0.0	2.6	0.0
Balance as of December 31	310.7	283.9	268.3
Change in Contract with Customer, Asset [Abstract]
Balance as of December 31	90.7	72.1	84.5
Contract assets	18.6	(12.4)	(16.0)
Balance as of January 1	72.1	84.5	100.5
Revenue recognized and unbilled	18.9	(13.1)	(13.3)
Acquired assets			(3.3)
Currency translation and other	$ (0.3)	$ 0.7	$ 0.6