Disaggregated Revenues - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Abstract]
Noncash royalty revenue	$ 4.0	$ 9.8	$ 9.4
Prior year sale adjustments, percentage	1.00%	1.00%	1.00%