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Revenue from Contracts with Customers - Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Revenue from Contracts with Customers          
Contract liability, Beginning of period $ 2.4 $ 2.5 $ 2.5 $ 2.7  
Deferral 2.7 2.8 7.8 8.0  
Revenue recognized (2.7) (2.8) (7.9) (8.2)  
Contract liability, End of period 2.4 2.5 2.4 2.5  
Current contract liabilities 2.1   2.1   $ 2.2
Non-current contract liabilities 0.3   0.3   0.3
Total contract liabilities $ 2.4 $ 2.5 $ 2.4 $ 2.5 $ 2.5