Revenue Recognition - Remaining Performance Obligation (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Contracts expected duration (in years)	one year	one year
Aggregate transaction price allocated to performance obligations	$ 160.3	$ 202.4
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2023-07-01
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Aggregate transaction price allocated to performance obligations	$ 144.1
Remaining performance obligation, expected duration	12 months