Credit Losses (Details) - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
Financing Receivable, Allowance for Credit Loss [Line Items]
Accounts receivable allowance for credit losses	$ 5.7	$ 6.8
Percent of accounts receivable not past due	90.00%	88.00%
Percent of accounts receivable past due	10.00%	12.00%
Accounts receivable, noncurrent, threshold period past due	60 days	60 days
Reserve for contract assets and sales-type leases	$ 4.4	$ 3.7
Greater than 60 Days Past Due
Financing Receivable, Allowance for Credit Loss [Line Items]
Percent of accounts receivable past due	1.80%	1.50%