Leases - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Sales-type lease, interest income	$ 8.9	$ 10.2	$ 10.8
Lease renewal term	15 years
Security deposit	$ 0.4
Letters of credit outstanding, amount	$ 1.1
Minimum
Lessee, Lease, Description [Line Items]
Lease term	2 years
Maximum
Lessee, Lease, Description [Line Items]
Lease term	5 years