Revenue Recognition, Contracts with Customers - Narrative (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue from Contract with Customer [Abstract]
Revenue recognized from performance obligations satisfied In previous periods increase (decrease)	$ 1.1	$ (2.0)	$ 2.5	$ (1.8)
Revenue recognized that was previously included in contract liability	$ 4.4	$ 2.7	$ 12.5	$ 10.9