Revenues - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Unbilled accounts receivable	$ 4.8
Payment due date from date of invoice	30 days
Taser 60 Plan
Disaggregation of Revenue [Line Items]
Interest income	$ 0.3	$ 0.6	$ 1.0
SG&A expenses
Disaggregation of Revenue [Line Items]
Amortization related to deferred commissions	$ 34.0	$ 24.2	$ 16.6