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Revenue Recognition - Change in Contract Assets (Details) - USD ($) $ in Millions | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022
Change in Contract with Customer, Asset [Abstract] |  |
Beginning balance | $ 89.7 | $ 70.9
Ending balance | 80.9 | 76.9
Change in contract assets | $ (8.8) | $ 6.0

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- Definition Increase (Decrease) in Contract with Customer, Asset, Including Business combinations + References No definition available. + Details
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- Definition Amount, before allowance for credit loss, of right to consideration in exchange for good or service transferred to customer, when right is conditioned on something other than passage of time. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 326 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 14 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479319/326-20-50-14 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Name Accounting Standards Codification -Section 50 -Paragraph 7A -SubTopic 10 -Topic 310 -Publisher FASB -URI https://asc.fasb.org//1943274/2147481962/310-10-50-7A Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 1 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-1 Reference 4: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 3 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-3 + Details
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