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Revenue from Contracts with Customers - Costs of Obtaining Contracts (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Revenue from Contracts with Customers          
Capitalized contract cost, Beginning of period $ 39.9 $ 37.7 $ 39.5 $ 37.3  
Deferral 4.9 4.0 9.3 7.8  
Amortization (4.0) (3.5) (8.0) (6.9)  
Capitalized contract cost, End of period 40.8 38.2 40.8 38.2  
Current costs of obtaining contracts with customers 16.0   16.0   $ 15.6
Non-current costs of obtaining contracts with customers 24.8   24.8   23.9
Total costs of obtaining contracts with customers $ 40.8 $ 38.2 $ 40.8 $ 38.2 $ 39.5