Revenue - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Contract asset, balance	$ 1,200,000	$ 13,300,000
Contract Acquisition Costs
Disaggregation of Revenue [Line Items]
Impairment capitalized contract cost	0	0	$ 0
Contract Fulfillment Costs
Disaggregation of Revenue [Line Items]
Capitalized contract cost	$ 200,000	$ 0