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Revenue Recognition - Receivables, Contract Assets and Contract Liabilities (Details) - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022
Revenue Recognition |  |
Contract Receivables | $ 397.1 | $ 401.9
Contract Assets (Current) | 8.4 | 23.6
Contract Assets (Long-term) | 3.0 | 0.1
Contract Liabilities (Current) | 20.3 | 29.2
Contract Liabilities (Long-term) | $ 2.0 | $ 3.2
Percentage of contract liability balance at the beginning of the period recognized as revenue during the period | 89.00% |
Percentage of contract asset balance at the beginning of the period recognized as expense | 90.00% |
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2024 | 10.00% |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 |  |
Revenue Recognition |  |
Percentage of remaining performance obligation to be recognized | 11.00% |
Recognition period for remaining performance obligation | 12 months |

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- Definition Amortization expense percentage for contract asset to be recognized during the first year following the latest fiscal year. + References No definition available. + Details
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