Leases - Sales-Type Leases, Revenue (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Leases [Abstract]
Sales-type lease, selling price	$ 36,300,000	$ 29,800,000
Cost of underlying assets	(17,600,000)	(11,900,000)
Operating profit	18,700,000	17,900,000
Interest income	4,500,000	4,300,000
Leasing revenue attributable to sales-type leases	$ 40,800,000	$ 34,100,000	$ 0