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Revenue from Contracts with Customers - Accounts Receivable Reserve for Doubtful Accounts (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Accounts Receivable, Allowance for Credit Loss [Roll Forward]    
Balance as of beginning of fiscal year $ 7.7 $ 3.8
Expense to increase the reserve 0.2 0.4
Write-off of uncollectible accounts (0.8) (0.3)
Balance as of period end $ 7.1 $ 3.9