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Revenue Recognition - Schedule of Contract Liabilities (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
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