Revenue - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Revenue remaining performance obligation amount	$ 1,519.0
Revenue remaining performance obligation revenue to be recognized year 2022	554.0
Revenue remaining performance obligation revenue to be recognized thereafter	965.0
Deferred revenue, revenue recognized	$ 33.8	$ 29.7