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Revenues from Contracts with Customers - Contract Costs (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Contract costs              
Contract cost asset $ 217.1       $ 217.1   $ 204.9
Practical expedient, incremental costs of obtaining a contract         true    
Amortization expense of contract cost asset $ 10.0   $ 8.4   $ 27.3 $ 26.6  
Impairment loss for contract cost asset   $ 0.0   $ 0.0