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Revenue Recognition - Additional Details (Details)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
$ / shares
Jun. 30, 2023
USD ($)
segment
Jun. 30, 2022
USD ($)
$ / shares
Revenue from Contract with Customer [Abstract]        
Number of reportable segments | segment     2  
Net changes in estimate that resulted in increases (decreases) in revenue $ 5.2 $ 2.1 $ 13.0 $ (3.1)
Increase in cost operations   2.2   2.2
Net changes in estimate that resulted in a decrease in operating income   $ 11.3   $ 11.3
Net changes in estimate that resulted in a decrease in earnings per share | $ / shares   $ 0.09   $ 0.09
Revenue recognized from advance billings on contracts 29.7 $ 38.6 69.2 $ 77.3
Revenue, remaining performance obligation, amount $ 4,115.0   $ 4,115.0  
Revenue, remaining performance obligation, percentage 58.00%   58.00%