Revenue Recognition - Narrative (Details) - USD ($)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Contract liability revenue recognized	$ 15,500,000
Impairment losses on contract assets	0	$ 0
Transaction price allocated to uncompleted contracts	$ 115,900,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Expected timing of satisfaction, period	18 months