Basis of Presentation and Significant Accounting Policies - Deferred Revenue (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Jun. 30, 2023	Dec. 31, 2022	Jun. 30, 2022	Dec. 31, 2021
Deferred Revenue Arrangement [Line Items]
Deferred Revenue	$ 107.2	$ 112.0	$ 107.2	$ 112.0	$ 108.7	$ 111.1	$ 113.6	$ 108.3
New contracts sold	9.9	10.7	35.2	38.5
Revenue recognized on existing contracts	(11.4)	(12.3)	(39.1)	(34.8)
Deferred revenue, current	34.3	35.8	34.3	35.8
Deferred revenue, noncurrent	$ 72.9	$ 76.2	$ 72.9	$ 76.2