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Revenue Recognition - Receivables, Contract Assets and Contract Liabilities (Details) - USD ($) $ in Millions | 9 Months Ended |
--- | --- | ---
Sep. 30, 2023 | Dec. 31, 2022
Revenue Recognition |  |
Contract Receivables | $ 372.7 | $ 401.9
Contract Assets (Current) | 14.0 | 23.6
Contract Assets (Long-term) | 2.8 | 0.1
Contract Liabilities (Current) | 21.3 | 29.2
Contract Liabilities (Long-term) | $ 2.5 | $ 3.2
Contract liability balance |  |
Percentage of contract liability balance at the beginning of the period recognized as revenue during the period | 72.00% |
Contract asset balance |  |
Percentage of contract asset balance at the beginning of the period expected to be recognized in 2023 | 96.00% |
Percentage of contract asset balance at the beginning of the period which has been recognized in the current year | 80.00% |
Percentage of contract asset balance at the beginning of the period expected to be recognized in 2024 | 4.00% |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01 |  |
Contract liability balance |  |
Percentage of remaining performance obligation to be recognized | 90.00% |
Recognition period for remaining performance obligation | 12 months |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 |  |
Contract liability balance |  |
Percentage of remaining performance obligation to be recognized | 10.00% |
Recognition period for remaining performance obligation | 12 months |

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