Investments - Narrative (Details) - USD ($) $ in Millions	1 Months Ended				3 Months Ended
	Sep. 30, 2023	Aug. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2022
Robotic Research OpCo, LLC
Debt Securities, Available-for-sale [Line Items]
Investment in Robotic Research, percentage of capitalization (percent, less than)				5.00%
Impairment charges					$ 6.0
Equity method investment, ownership percentage (percent, less than)		5.00%
ECARX Holdings Inc.,
Debt Securities, Available-for-sale [Line Items]
Investment in Robotic Research, percentage of capitalization (percent, less than)			5.00%		5.00%
Class A Preferred Units | Robotic Research OpCo, LLC
Debt Securities, Available-for-sale [Line Items]
Sale of stock (in shares)				1,495
Class A Preferred Units | ECARX Holdings Inc.,
Debt Securities, Available-for-sale [Line Items]
Sale of stock (in shares)			1,500,000
Class A Common Stock | Robotic Research OpCo, LLC
Debt Securities, Available-for-sale [Line Items]
Stock consideration		$ 10.0		$ 10.0
Common stock, shares issued (in shares)	436,158	1,490,313		618,924
Class A Common Stock | ECARX Holdings Inc.,
Debt Securities, Available-for-sale [Line Items]
Stock consideration			$ 15.0
Common stock, shares issued (in shares)			2,030,374