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Revenue Recognition Disaggregation of Revenue (Tables)
 3 Months Ended
Mar. 31, 2024
Disaggregation of Revenue [Line Items]  
Disaggregation of Revenue [Table Text Block]
Three Months Ended March 31,
(in millions)20242023
Revenue excluded from scope of ASC Topic 606$67.2 66.2 
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Table Text Block] Such contract assets and liabilities are presented below.
(in millions)March 31, 2024December 31, 2023
Contract assets, gross$375.5 402.3 
Contract asset allowance(1.7)(1.8)
Contract assets, net$373.8 400.5 
Contract liabilities$146.6 166.2