Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Revenue recognized from deferred revenue balance in prior periods	$ 5.4	$ 5.0
Aggregate amount of remaining performance obligations	188.1
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Aggregate amount of remaining performance obligations	$ 68.0
Expected timing of revenue recognition for remaining performance obligations	12 months