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Revenue - Contract Liabilities (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Sales Incentives    
Movement in Deferred Sales Inducements [Roll Forward]    
Beginning balance $ 21.2 $ 20.0
Additions to sales incentive accrual 6.3 6.6
Contract payments (11.3) (11.3)
Foreign currency fluctuations (0.4) 0.1
Ending balance 15.8 15.4
Movement in Deferred Revenue [Roll Forward]    
Foreign currency fluctuations (0.4) 0.1
Maintenance    
Movement in Deferred Sales Inducements [Roll Forward]    
Foreign currency fluctuations (0.1) 0.1
Movement in Deferred Revenue [Roll Forward]    
Beginning balance 10.3 9.3
Increase in deferred revenue representing our obligation to satisfy future performance obligations 5.0 5.5
Decrease in deferred revenue for amounts recognized in net sales for satisfied performance obligations (4.3) (4.7)
Foreign currency fluctuations (0.1) 0.1
Ending balance $ 10.9 $ 10.2