Revenue from Contracts with Customers - Contract Liabilities (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
Contract liability, Beginning of period	$ 2.5	$ 2.9	$ 2.7	$ 3.3
Deferral	2.8	2.9	8.0	9.1
Revenue recognized	(2.8)	(3.0)	(8.2)	(9.6)
Contract liability, End of period	2.5	2.8	2.5	2.8
Current contract liabilities	2.2		2.2		$ 2.4
Non-current contract liabilities	0.3		0.3		0.3
Total contract liabilities	$ 2.5	$ 2.8	$ 2.5	$ 2.8	$ 2.7