Revenue Recognition - Additional Information (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Contract liability revenue recognized	$ 400,000		$ 17,800,000
Impairment losses on contract assets	0	$ 0	0	$ 0
Transaction price allocated to uncompleted contracts	$ 124,000,000		$ 124,000,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Expected time of revenue recognition (in months)			18 months