Revenue - Schedule of Cost of Contracts Expense (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue from Contract with Customer [Abstract]
Cost of contracts expense	$ 0.2	$ 0.3	$ 0.7	$ 0.8