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Revenues from Contracts with Customers - Contract Costs (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Mar. 31, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Contract costs |  |  |  |  |  |  |
Contract cost asset | $ 217.1 |  |  |  | $ 217.1 |  | $ 204.9
Practical expedient, incremental costs of obtaining a contract |  |  |  |  | true |  |
Amortization expense of contract cost asset | $ 10.0 |  | $ 8.4 |  | $ 27.3 | $ 26.6 |
Impairment loss for contract cost asset |  | $ 0.0 |  | $ 0.0 |  |  |

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- Definition Amount of amortization expense for asset recognized from cost incurred to obtain or fulfill contract with customer. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 340 -SubTopic 40 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479483/340-40-50-3 + Details
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- Definition Amount, after accumulated amortization and accumulated impairment loss, of asset recognized from cost incurred to obtain or fulfill contract with customer. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 340 -SubTopic 40 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479483/340-40-50-3 + Details
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