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Revenue Recognition - Schedule of Contract Liabilities (Details) - USD ($) $ in Millions | Mar. 31, 2024 | Dec. 31, 2023
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Contract with Customer, Liability [Abstract] |  |
Customer advances | $ 703.8 | $ 706.9
Other current liabilities | 87.6 | 96.2
Non-current customer advances | 1,181.5 | 1,190.7
Other non-current liabilities | 69.1 | 68.5
Total contract liabilities | $ 2,042.0 | $ 2,062.3

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