Revenue - Schedule of Cost of Contracts Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Cost of contracts expense	$ 0.9	$ 1.0	$ 1.0
Weighted average life (years)	7 years 4 months 24 days	7 years 1 month 6 days	7 years