Revenue - Contract Liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Sales Incentives
Movement in Deferred Sales Inducements [Roll Forward]
Beginning balance	$ 20.0	$ 19.9
Additions to sales incentive accrual	6.6	4.4
Contract payments	(11.3)	(12.8)
Foreign currency fluctuations	0.1	(0.2)
Ending balance	15.4	11.3
Movement in Deferred Revenue [Roll Forward]
Foreign currency fluctuations	0.1	(0.2)
Maintenance
Movement in Deferred Sales Inducements [Roll Forward]
Foreign currency fluctuations	0.1	0.1
Movement in Deferred Revenue [Roll Forward]
Beginning balance	9.3	11.2
Increase in deferred revenue representing our obligation to satisfy future performance obligations	5.5	7.4
Decrease in deferred revenue for amounts recognized in net sales for satisfied performance obligations	(4.7)	(6.5)
Foreign currency fluctuations	0.1	0.1
Ending balance	$ 10.2	$ 12.2