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Revenues and Accounts Receivable - Additional Information (Details)
$ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
Customer
Dec. 31, 2021
USD ($)
Customer
Dec. 31, 2020
Customer
Accounts Notes And Loans Receivable [Line Items]      
Contracts assets acquired through business acquisitions $ 1.7 $ 0.5  
Contract liabilities acquired through business acquisitions 0.0 0.5  
Contract with customer liabilities, revenue recognized 25.3    
Revenue remaining performance obligations $ 100.4 $ 108.7  
Customer Concentration Risk | Revenue | Significant Customer      
Accounts Notes And Loans Receivable [Line Items]      
Number of customers | Customer 1 1 0
Concentration risk percentage 14.40%   10.00%
Customer Concentration Risk | Revenue | Customer One      
Accounts Notes And Loans Receivable [Line Items]      
Concentration risk percentage   10.00%  
Customer Concentration Risk | Accounts Receivable | Significant Customer      
Accounts Notes And Loans Receivable [Line Items]      
Number of customers | Customer 0    
Concentration risk percentage 10.00%    
Customer Concentration Risk | Accounts Receivable | Customer One      
Accounts Notes And Loans Receivable [Line Items]      
Number of customers | Customer   1  
Concentration risk percentage   23.10%