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Revenue - Schedule of Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 9 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Contract assets $ 44.2 $ 45.6
Contract liabilities 18.7 22.7
Net contract assets 25.5 $ 22.9
$ Change    
Contract assets (1.4)  
Contract liabilities (4.0)  
Net contract assets $ (2.6)  
% Change    
Contract assets (3.10%)  
Contract liabilities (17.60%)  
Net contract assets 11.40%