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Revenue - Contract Liabilities (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Sales Incentives    
Movement in Deferred Sales Inducements [Roll Forward]    
Beginning balance $ 20.0 $ 19.9
Additions to sales incentive accrual 29.5 22.5
Contract payments (28.5) (21.8)
Foreign currency fluctuations 0.2 (0.6)
Ending balance 21.2 20.0
Movement in Deferred Revenue [Roll Forward]    
Foreign currency fluctuations 0.2 (0.6)
Maintenance    
Movement in Deferred Sales Inducements [Roll Forward]    
Foreign currency fluctuations 0.1 (0.6)
Movement in Deferred Revenue [Roll Forward]    
Beginning balance 9.3 11.2
Increase in deferred revenue representing our obligation to satisfy future performance obligations 21.7 24.2
Decrease in deferred revenue for amounts recognized in net sales for satisfied performance obligations (20.8) (25.5)
Foreign currency fluctuations 0.1 (0.6)
Ending balance $ 10.3 $ 9.3