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Revenue Recognition - Schedule of Contract Liabilities Recognized in Revenue (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Contract with Customer, Liability [Abstract]        
Beginning liabilities recognized in revenue $ 130.9 $ 130.9 $ 490.2 $ 478.5