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Revenue from Contracts with Customers Components of Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Contract with Customer, Asset, Net, Current $ 1.5 $ 4.6
Contract with Customer, Asset, after Allowance for Credit Loss, Noncurrent 4.5 0.7
Contract with Customer, Liability, Current 116.2 78.0
Contract with Customer, Liability, Noncurrent 37.6 41.0
Change in Contract With Customer, Asset [Roll Forward]    
Contract with Customer, Asset, after Allowance for Credit Loss 5.3 0.3
Revenue from Contract with Customer, Excluding Assessed Tax 8.4 9.2
Contract with Customer, Asset, Reclassified to Receivable (7.7) (4.2)
Change in Contract With Customer, Liability [Roll Forward]    
Contract with Customer, Liability 119.0 56.6
Contract with Customer, Liability, Revenue Recognized, Included In Beginning Balance (73.1) (41.1)
Contract with Customer, Liability, Revenue Recognized, Added During Period (46.5) (47.1)
Increase (Decrease) in Contract with Customer, Liability (8.5) (6.1)
Contract with Customer, Liability 153.8 119.0
Increase in Contract Liability due to Revenue Deferred During the Period $ 162.9 $ 156.7