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Revenues and Accounts Receivable - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accounts Notes And Loans Receivable [Line Items]      
Contracts assets acquired through business acquisitions $ 2.2 $ 1.7  
Contract liabilities acquired through business acquisitions 0.0 0.0  
Contract with customer liabilities, revenue recognized 14.4    
Revenue remaining performance obligations $ 81.9 $ 100.4  
Customer Concentration Risk | Revenue | Customer One      
Accounts Notes And Loans Receivable [Line Items]      
Concentration risk percentage 10.00% 14.40% 10.00%
Customer Concentration Risk | Accounts Receivable | Significant Customer      
Accounts Notes And Loans Receivable [Line Items]      
Concentration risk percentage 10.00% 10.00%