Revenue from Contracts with Customers - Performance Obligations (Details) $ in Millions	Dec. 31, 2022 USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01
Revenue, Performance Obligation [Abstract]
Remaining performance obligation	$ 551.5
Remaining performance obligation, expected timing of satisfaction	12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Revenue, Performance Obligation [Abstract]
Remaining performance obligation	$ 492.1
Remaining performance obligation, expected timing of satisfaction