Revenue Recognition - Narrative (Details) - USD ($) $ in Millions	Jun. 30, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets	$ 3.0	$ 3.8
Contract with customer, liability	5.3	5.5
Extended Warranty Revenue
Disaggregation of Revenue [Line Items]
Deferred revenue	$ 2.3	$ 2.9