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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