Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Deferred revenue, current	$ 6.6	$ 7.7
Other current liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue, current	6.6	7.7
Other liabilities | Maintenance
Disaggregation of Revenue [Line Items]
Deferred revenue, noncurrent	$ 2.7	$ 3.5
Minimum
Disaggregation of Revenue [Line Items]
Standard prepaid maintenance contract time period (months)	12 months
Maximum
Disaggregation of Revenue [Line Items]
Standard prepaid maintenance contract time period (months)	60 months