Sales - Contract liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Deferred revenue, current	$ 144.7	$ 135.2
Deferred revenue, noncurrent	48.0	48.7
Total contract liabilities	192.7	$ 183.9
Contract liabilities, revenue recognized	$ 43.3