Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Transferred over time
Disaggregation of Revenue [Line Items]
Revenue from contract with customer, percentage	18.00%
Deferred revenue	$ 53.9	$ 52.6
Contract assets	$ 59.9	$ 56.7
Minimum
Disaggregation of Revenue [Line Items]
Payment term	30 days
Maximum
Disaggregation of Revenue [Line Items]
Payment term	90 days