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Leases - Sales-Type Leases, Revenue (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Sales-type lease, selling price	$ 30.3	$ 36.3	$ 29.8
Cost of underlying assets	(13.8)	(17.6)	(11.9)
Operating profit	16.5	18.7	17.9
Interest income	6.1	4.5	4.3
Leasing revenue attributable to sales-type leases	$ 36.4	$ 40.8	$ 34.1

X

- Definition

Sales-type Lease, Present Value of Future Lease Payments

+ References

No definition available.

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- Definition

Cost of goods sold for sales-type financing lease.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 270
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 6A
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482964/270-10-50-6A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 30
-Name Accounting Standards Codification
-Section 50
-Paragraph 5
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479773/842-30-50-5

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- Definition

Amount of interest income from net investment in sales-type lease.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 270
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 6A
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482964/270-10-50-6A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 30
-Name Accounting Standards Codification
-Section 50
-Paragraph 5
-Subparagraph (a)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479773/842-30-50-5

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
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-Name Accounting Standards Codification
-Section 25
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-Publisher FASB
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- Definition

Amount of sales-type lease revenue.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 270
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 6A
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482964/270-10-50-6A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 30
-Name Accounting Standards Codification
-Section 50
-Paragraph 5
-Subparagraph (a)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479773/842-30-50-5

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- Definition

Amount of profit (loss) recognized at commencement from sales-type lease.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 270
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 6A
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482964/270-10-50-6A

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-Topic 842
-SubTopic 30
-Name Accounting Standards Codification
-Section 50
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-URI https://asc.fasb.org//1943274/2147479773/842-30-50-5

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