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Revenue from Contracts with Customers - Change in Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Jan. 01, 2022
Contract assets increase (decrease)    
Contract assets recognized $ 15.9 $ 17.3
Reclassification of contract assets to contra-revenue (2.9) (0.9)
Net change 13.0 16.4
Contract liabilities (increase) decrease    
Contract liabilities recognized and recorded to contra-revenue as a result of performance obligations satisfied (115.7) (121.7)
Contract liabilities paid 116.0 122.1
Cash received in advance and not recognized as revenue (144.9) (115.2)
Reclassification of cash received in advance to revenue as a result of performance obligations satisfied 137.2 109.9
Impact of divestiture of business 7.6  
Impact of business combination   (0.8)
Net change $ 0.1 $ (5.6)