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Revenue Recognition - Receivables, Contract Assets and Contract Liabilities (Details) - USD ($) $ in Millions | 3 Months Ended |
--- | --- | ---
Mar. 31, 2024 | Dec. 31, 2023
Revenue Recognition |  |
Contract Receivables | $ 467.7 | $ 397.1
Contract Assets (Current) | 10.1 | 8.4
Contract Assets (Long-term) | 3.8 | 3.0
Contract Liabilities (Current) | 23.2 | 20.3
Contract Liabilities (Long-term) | $ 1.9 | $ 2.0
Contract liability balance |  |
Percentage of contract liability balance at the beginning of the period recognized as revenue during the period | 26.00% |
Contract asset balance |  |
Percentage of contract asset balance at the beginning of the period recognized as expense | 31.00% |
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2024 | 80.00% |
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2025 | 13.00% |
Percentage of contract asset balance at the beginning of the year expected to be recognized as expense during 2026 or later | 7.00% |
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 | 76.00% |
Recognition period for remaining performance obligation | 12 months |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01 |  |
Contract liability balance |  |
Percentage of remaining performance obligation to be recognized | 11.00% |
Recognition period for remaining performance obligation | 12 months |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01 |  |
Contract liability balance |  |
Percentage of remaining performance obligation to be recognized | 13.00% |
Recognition period for remaining performance obligation | 12 months |

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