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Revenue (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Disaggregation of Revenue [Line Items]          
Contract with customer, asset $ 43.8   $ 43.8   $ 40.6
Capitalized contract cost, net 158.8   158.8   152.3
Capitalized contract cost, amortization 14.5 $ 15.4 30.5 $ 29.9  
Upfront incentive payments 39.2   39.2   42.1
Commercial agreement restructuring charge 0.0 25.0 0.0 25.0  
Reduction to revenue   $ 20.3   $ 20.3  
Prepaid Expenses and Other Current Assets          
Disaggregation of Revenue [Line Items]          
Upfront incentive payments $ 4.7   $ 4.7   $ 4.9