Revenue Recognition - Reconciliation of Short Term Sales Program Incentives (Details) - USD ($) $ in Millions |
3 Months Ended | 9 Months Ended | ||
|---|---|---|---|---|
Sep. 30, 2023 |
Sep. 30, 2022 |
Sep. 30, 2023 |
Sep. 30, 2022 |
|
| Sales Incentives, Current [Roll Forward] | ||||
| Beginning Balance | $ 24.8 | $ 35.2 | $ 20.8 | $ 23.3 |
| Additions | 4.8 | 6.1 | 26.9 | 33.6 |
| Credits issued | (11.7) | (6.6) | (28.3) | (19.8) |
| Foreign currency translation and other | (0.4) | (1.3) | (1.9) | (3.7) |
| Ending Balance | $ 17.5 | $ 33.4 | $ 17.5 | $ 33.4 |