Revenue Recognition - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue [Line Items]
Deferred revenue, current	$ 35.6	$ 36.8
Deferred revenue, noncurrent	$ 75.9	$ 78.1
Minimum
Disaggregation of Revenue [Line Items]
Extended service warranty period	12 months
Maximum
Disaggregation of Revenue [Line Items]
Extended service warranty period	84 months