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Revenue Recognition Disaggregation of Revenue (Tables)
 9 Months Ended
Sep. 30, 2023
Disaggregation of Revenue [Line Items]  
Disaggregation of Revenue [Table Text Block]
Three Months Ended September 30,Nine Months Ended September 30,
(in millions)2023202220232022
Revenue excluded from scope of ASC Topic 606$68.1 76.1 $211.5 222.6 
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Table Text Block] Such contract assets and liabilities are presented below.
(in millions)September 30, 2023December 31, 2022
Contract assets, gross$427.4 447.0 
Contract asset allowance(2.2)(2.3)
Contract assets, net$425.2 444.7 
Contract liabilities$134.0 151.4