Revenues - Capitalized Costs of Obtaining a Contract (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Operating Lease Income Comprehensive Income Extensible List Not Disclosed Flag	Other Revenue
Contract with customer asset	$ 6,500,000	$ 7,200,000
Capitalized contract cost, amortization	7,100,000	6,900,000
Capitalized contract cost, impairment loss	$ 0	$ 0