Revenue - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Revenue remaining performance obligation amount	$ 1,552.0
Revenue remaining performance obligation revenue to be recognized year 2021	597.0
Revenue remaining performance obligation revenue to be recognized thereafter	955.0
Deferred revenue, revenue recognized	$ 35.1	$ 31.0	$ 26.5