Leases - Sales-Type Leases, Revenue (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Leases [Abstract]
Sales-type lease, selling price	$ 7.4	$ 6.1	$ 23.8	$ 24.6
Cost of underlying assets	(3.0)	(3.2)	(10.9)	(11.9)
Operating profit	4.4	2.9	12.9	12.7
Interest income	2.1	1.1	4.8	2.9
Total revenue attributable to sales-type leases	$ 9.5	$ 7.2	$ 28.6	$ 27.5