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Guarantees - Narrative (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Product Warranty Liability [Line Items]    
Revenue deferred related to buyback obligations included in other current and non-current liabilities $ 27.3 $ 31.0
Amount of residual value buyback commitments and given by the company 42.5 36.4
Amount of loss guarantees with maximum liabilities 15.0 15.8
Revenue deferred related to extended warranties included in other current and non-current liabilities $ 6.6 7.0
Standard product warranties, low end of range (in months) 12 months  
Standard product warranties, high end of range (in months) 60 months  
Other Noncurrent Liabilities    
Product Warranty Liability [Line Items]    
Revenue deferred related to extended warranties included in other current and non-current liabilities $ 9.2 $ 11.2