Disaggregation of Revenue and Contract Balances - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Revenue from contracts classified as lump sum	0.894	0.939
Revenue from exclusively time and material contracts	10.60%	6.10%
Remaining performance obligations	$ 227.3
Contract with customer, liability, revenue recognized	$ 3.1
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2024-01-01
Disaggregation of Revenue [Line Items]
Remaining performance obligations expects to recognize	87.50%
Remaining performance obligations, expected satisfaction period	12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2025-01-01
Disaggregation of Revenue [Line Items]
Remaining performance obligations expects to recognize	12.50%
Remaining performance obligations, expected satisfaction period