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Revenue and Credit Losses - Narrative (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Capitalized Contract Cost [Line Items]          
Deferred contract costs and sales commissions $ 82.2   $ 82.2   $ 80.2
Capitalized sales commissions to selling, general and administrative expenses          
Capitalized Contract Cost [Line Items]          
Capitalized contract cost, amortization 3.5 $ 3.2 10.8 $ 10.0  
Other deferred contract costs as a reduction of revenue          
Capitalized Contract Cost [Line Items]          
Capitalized contract cost, amortization $ 1.2 $ 1.4 $ 4.0 $ 4.4