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Revenue from Contracts with Customers Schedule of Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 6 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Contract Assets    
Contract with Customer, Asset, after Allowance for Credit Loss $ 4.7 $ 5.3
Revenue recognized in advance of right to bill customer 3.9  
Decrease due to transfer to receivables during the period (4.5)  
Contract Liabilities    
Contract with Customer, Liability 137.9 $ 119.0
Contract with Customer, Liability, Increase from Cash Receipts 74.6  
Decrease due to amortization of deferred revenue that was included in the beginning contract liability balance (37.4)  
Contract with Customer, Liability, Revenue Recognized, Added During Period 9.8  
Decrease due to transfer to receivables and payables during the period $ (8.5)