Summary of Significant Accounting Policies - Concentration of Credit Risk (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Concentration of Credit Risk
Allowance for doubtful accounts	$ 5.3	$ 4.2
Customer concentration \| Accounts receivable \| No Single Customer [Member]
Concentration of Credit Risk
Risk percentage	10.00%	10.00%
Customer concentration \| Revenue \| No Single Customer [Member]
Concentration of Credit Risk
Risk percentage	10.00%	10.00%	10.00%

For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
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Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
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Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef
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Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef
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-Name Accounting Standards Codification
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-URI https://asc.fasb.org/extlink&oid=99393423&loc=d3e6404-108592

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