Revenue - Schedule of Contract Asset Balances (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Contract Asset Balances with Customer
Balance, beginning of year	$ 1.8	$ 2.3
Additional contract assets	1.2	1.8
Reclassification to accounts receivable	(1.8)	(2.3)
Balance, end of year	$ 1.2	$ 1.8