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Contracts with Customers - Contract Assets and Liabilities (Details)
$ in Millions
Jun. 30, 2023
USD ($)
contract
Dec. 31, 2022
USD ($)
Contract with Customer, Asset, after Allowance for Credit Loss, Current [Abstract]    
Accrued revenue $ 54.7 $ 57.4
Current contract assets 54.7 57.4
Non-current accrued revenue 1.9 3.8
Non-current contract asset 1.9 3.8
Total contract asset 56.6 61.2
Contract With Customer Liability Net Current [Abstract]    
Current deferred mobilization, demobilization and other revenue (52.4) (57.3)
Contract With Customer Liability Net Non-Current [Abstract]    
Non-current deferred mobilization, demobilization and other revenue (54.7) (68.7)
Total contract liability (107.1) (126.0)
Liquidated damages costs, current $ 1.2 0.9
Contracts with delayed start date | contract 2  
Liquidated damages costs, non-current $ 1.4 2.3
Deferred demobilization revenue    
Contract with Customer, Asset, after Allowance for Credit Loss, Current [Abstract]    
Accrued revenue 1.7 0.7
Non-current accrued revenue 0.5 1.5
Deferred variable rate revenue    
Contract with Customer, Asset, after Allowance for Credit Loss, Current [Abstract]    
Accrued revenue $ 2.1 $ 0.5