Liabilities - Performance Obligations Timing (Details) $ in Millions	3 Months Ended
	Mar. 31, 2024 USD ($)
Performance obligations
Remaining performance obligations	$ 139.8
Revenue, Practical Expedient, Remaining Performance Obligation	true
Minimum
Performance obligations
Performance obligation at time of contract origination	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01
Performance obligations
Percentage of remaining performance obligation expected to be recognized	82.00%
Remaining performance obligations, expected timing of satisfaction	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01 | Minimum
Performance obligations
Remaining performance obligations, expected timing of satisfaction	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01 | Maximum
Performance obligations
Remaining performance obligations, expected timing of satisfaction	3 years