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Revenue from Contracts with Customers Schedule of Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Contract Assets    
Contract with Customer, Asset, after Allowance for Credit Loss $ 2.5 $ 5.3
Revenue recognized in advance of right to bill customer 1.1  
Decrease due to transfer to receivables during the period (3.9)  
Contract Liabilities    
Contract with Customer, Liability 98.2 $ 119.0
Contract with Customer, Liability, Increase from Cash Receipts 15.2  
Decrease due to amortization of deferred revenue that was included in the beginning contract liability balance (23.3)  
Contract with Customer, Liability, Revenue Recognized, Added During Period (4.2)  
Increase (Decrease) in Contract with Customer, Liability $ (8.5)