Revenue from Contracts with Customers - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Contract with customer, liability	$ 43.5		$ 43.5		$ 58.7
Contract with customer, revenue recognized	$ 38.8	$ 43.6	$ 42.4	$ 46.8