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Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Contract Assets, Current [Roll Forward]    
Balance as of beginning of fiscal year $ 64.1 $ 53.9
Recognized in current year 41.1 35.3
Reclassified to accounts receivable (53.4) (34.9)
Balance as of period end 51.8 54.3
Contract Liabilities, Current [Roll Forward]    
Balance as of beginning of fiscal year 149.1 116.2
Recognized in current year 58.8 59.6
Amounts in beginning balance reclassified to revenue (69.4) (54.9)
Current year amounts reclassified to revenue (22.9) (13.4)
Other (0.1) 1.5
Reclassification to/from long-term and contract asset 22.3 16.7
Balance as of period end 137.8 125.7
Contract Liabilities, Noncurrent [Roll Forward]    
Balance as of beginning of fiscal year 66.8 84.4
Recognized in current year 0.9 7.5
Reclassification to/from short-term (22.3) (16.7)
Balance as of period end $ 45.4 $ 75.2