Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Revenue from Contract with Customer [Abstract]
Negotiable cost reductions cares act	$ 2.7	$ 2.9
Performance obligation unsatisfied or partially satisfied	193.7
Cost of contracts net of accumulated amortization	$ 2.0		$ 2.2

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

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