Revenue - Contract Estimates (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Revenue from Contract with Customer [Abstract] | |||
| Favorable adjustments to revenue | $ (13.3) | ||
| Unfavorable adjustments to revenue | $ 1.3 | $ 3.7 | |
| Favorable adjustments to operating income | $ 7.5 | $ 0.4 | |
| Unfavorable adjustments to operating income | $ 1.8 | ||