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Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]      
Contract with customer, asset $ 2.3   $ 1.7
Contract with customer, asset, expected to be billed, percent 81.00%    
Contract with customer, asset, prior period, not recognized   $ 0.3  
Deferred revenue $ 58.6 $ 49.5  
Contract with customer, liability, revenue recognized 26.8    
Increase (Decrease) in Contract with Customer, Liability $ 9.1