Revenue Recognition - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Deferred Revenue and Product Warranty [Line Items]
Recognized revenue, contract liabilities	$ 0.2	$ 0.7
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01
Deferred Revenue and Product Warranty [Line Items]
Remaining performance obligations	$ 1.1
Remaining performance obligations over a weighted average term	3 years 8 months 12 days
Maximum
Deferred Revenue and Product Warranty [Line Items]
Warranty period	25 years
Minimum [Member]
Deferred Revenue and Product Warranty [Line Items]
Warranty period	5 years