Revenue from Contracts with Customers - Costs to Fulfill a Contract (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Capitalized contract cost, gross	$ 10.1	$ 10.1
Capitalized contract cost, accumulated depreciation	7.9	7.6
Capitalized contract cost, amortization	$ 0.3	$ 0.5

Amount, before 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/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 340
-SubTopic 40
-Section 50
-Paragraph 3
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=126905575&loc=SL49131252-203054

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