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Revenues - Additional Information (Details) - USD ($) $ in Millions | 6 Months Ended |
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Segment Reporting Information [Line Items] |  |  |
Contract with Customer, Liability | $ 69.9 |  | $ 79.9
Contract with Customer, Liability, Noncurrent | 41.6 |  | 33.4
Deferred Costs | 86.0 |  | 76.0
Incentive and Profit-sharing Contingent Commissions |  |  |
Segment Reporting Information [Line Items] |  |  |
Deferred Revenue, Revenue Recognized | 21.5 | $ 21.5 |
Cost to Fulfill |  |  |
Segment Reporting Information [Line Items] |  |  |
Deferred Costs | 103.1 |  | $ 108.7
Capitalized Contract Cost, Amortization | $ 9.9 |  |
Cost to Obtain |  |  |
Segment Reporting Information [Line Items] |  |  |
Capitalized contract cost, amortization period | 15 years |  |
Deferred Costs | $ 13.2 |  |
Capitalized Contract Cost, Amortization | $ 3.2 |  |

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