Revenue from Contracts with Customers - Costs of Obtaining Contracts (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Revenue from Contracts with Customers
Capitalized contract cost, Beginning of period	$ 40.8	$ 38.2	$ 39.5	$ 37.3
Deferral	4.8	4.6	14.1	12.4
Amortization	(4.1)	(3.7)	(12.1)	(10.6)
Capitalized contract cost, End of period	41.5	39.1	41.5	39.1
Current costs of obtaining contracts with customers	16.3		16.3		$ 15.6
Non-current costs of obtaining contracts with customers	25.2		25.2		23.9
Total costs of obtaining contracts with customers	$ 41.5	$ 39.1	$ 41.5	$ 39.1	$ 39.5