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Accounts Receivable and Contract Balances - Schedule of Contract with Customer (Details) - USD ($) $ in Millions | 3 Months Ended |
--- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Contract assets | $ 95.5 |  | $ 111.8
Contract liabilities | 507.6 |  | 527.4
Revenue recognized from contract with customer | 175.0 | $ 190.0 |
Long-term Contract with Customer |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Contract liabilities | $ 38.0 |  | $ 40.0

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