Revenue from Contracts with Customers - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Amount of revenue recognized from beginning deferred revenue and backlog	$ 846.3	$ 764.9
Amount of revenue recognized from beginning deferred revenue	$ 414.0	$ 391.5

Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479806/606-10-50-8

Name:	us-gaap_ContractWithCustomerLiabilityRevenueRecognized
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration