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Revenue - Sales-type and Operating Lease Revenue (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Deferred Revenue Arrangement [Line Items]      
Sales-Type Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration] Total revenue Total revenue Total revenue
Sales-type lease revenue $ 78.4 $ 156.4 $ 220.3
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration] Total revenue Total revenue Total revenue
Operating lease revenue $ 500.5 $ 376.5 $ 276.9
Variable Lease Revenue, Usage-Based Arrangements      
Deferred Revenue Arrangement [Line Items]      
Operating lease revenue $ 216.5 $ 133.0 $ 78.1