Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Revenue From Contract With Customer [Abstract]
Negotiable cost reductions cares act	$ 2.9	$ 3.2
Performance obligation unsatisfied or partially satisfied	188.1
Cost of contracts net of accumulated amortization	$ 2.9		$ 2.9

Amount, after accumulated amortization and accumulated impairment loss, of asset recognized from cost incurred to obtain or fulfill contract with customer.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 340
-SubTopic 40
-Section 50
-Paragraph 3
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=126905575&loc=SL49131252-203054

Name:	us-gaap_CapitalizedContractCostNet
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant