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Revenue Recognition - Schedule of Contract Liabilities (Details) - USD ($)
$ in Millions
Sep. 30, 2023
Dec. 31, 2022
Contract with Customer, Liability [Abstract]    
Customer advances $ 664.0 $ 696.7
Other current liabilities 90.4 77.4
Long-term customer advances 1,088.7 1,020.5
Other long-term liabilities 69.0 66.8
Total contract liabilities $ 1,912.1 $ 1,861.4