Quarterly report pursuant to Section 13 or 15(d)

Revenue, Contract Assets and Liabilities and Other Contract Matters - Summary of Contract with Customer, Asset and Liability (Parenthetical) (Details)

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Revenue, Contract Assets and Liabilities and Other Contract Matters - Summary of Contract with Customer, Asset and Liability (Parenthetical) (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]      
Contract with customer, asset, revenue recognized in excess of amounts billed, current $ 5.8   $ 6.0
Contract with customer, liability, revenue recognized 4.2 $ 6.0  
Contract with customer, liability, accrued contract losses, current $ 0.3   $ 0.4