Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Negotiable cost reductions cares act	$ 2.7	$ 3.1	$ 8.3	$ 9.2
Performance obligation unsatisfied or partially satisfied	198.3		198.3
Cost of contracts net of accumulated amortization	$ 2.4		$ 2.4		$ 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
-Topic 340
-SubTopic 40
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479483/340-40-50-3

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