Credit Losses (Details) - USD ($) $ in Millions	Jun. 30, 2023	Dec. 31, 2022
Financing Receivable, Allowance for Credit Loss [Line Items]
Accounts receivable allowance for credit losses	$ 9.8	$ 8.3
Percent of accounts receivable not past due (as a percent)	89.00%	86.00%
Percent of accounts receivable past due (as a percent)	11.00%	14.00%
Accounts receivable, noncurrent, threshold period past due (in days)	60 days	60 days
Reserve for contract assets and sales-type leases	$ 6.0	$ 5.5
Greater than 60 Days Past Due
Financing Receivable, Allowance for Credit Loss [Line Items]
Percent of accounts receivable past due (as a percent)	1.00%	2.00%