Revenue Recognition Net Contract Assets (Liabilities) (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Contract with Customer, Asset, after Allowance for Credit Loss	$ 2,200,000	$ 0
Contract with Customer, Liability, Current	4,700,000	9,600,000
Contract with Customer, Liability, Noncurrent	7,500,000	6,400,000
Contract with Customer, Asset (Liability), Net	(10,000,000.0)	(16,000,000.0)
Contract with Customer, Liability, Revenue Recognized	$ 7,700,000	$ 10,100,000	$ 3,600,000