Revenue and Deferred Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Capitalized contract costs	$ 1.7
Capitalized contract cost, unamortized	0.9
Revenue recognized related to performance obligations satisfied or partially satisfied in prior periods	3.2	$ 1.7	$ 2.3
Concentration Risk [Line Items]
Revenue recognized related to performance obligations satisfied or partially satisfied in prior periods	$ 3.2	$ 1.7	$ 2.3
Revenue Benchmark | Geographic Concentration Risk | UNITED STATES
Concentration Risk [Line Items]
Concentration risk, percentage	95.00%	95.00%	96.00%