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Revenue Recognition - Schedule of Contract Liabilities (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022
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Contract with Customer, Liability [Abstract] |  |
Customer advances | $ 706.9 | $ 696.7
Other current liabilities | 96.2 | 77.4
Long-term customer advances | 1,190.7 | 1,020.5
Other long-term liabilities | 68.5 | 66.8
Total contract liabilities | $ 2,062.3 | $ 1,861.4

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