Revenue Recognition - Deferred Revenue (Details) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue Recognition [Abstract]
Balance at beginning of period	$ 108.7	$ 113.6	$ 111.1	$ 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)
Balance at end of period	$ 107.2	$ 112.0	$ 107.2	$ 112.0

Amount of deferred revenue recognized for transactions arising during the current reporting period. Deferred revenue is a liability as of the balance sheet date related to a revenue producing activity for which revenue has not yet been recognized. Generally, an Entity records deferred revenue when it receives consideration from a customer before achieving certain criteria that must be met for revenue to be recognized in conformity with GAAP.

No definition available.

Name:	us-gaap_DeferredRevenueAdditions
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration